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调整了运球的延时

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ws 2025-06-28 10:27:40 +08:00
parent 4fb6b424a1
commit 4db4582450
6 changed files with 172 additions and 201 deletions
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8
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -74,3 +74,11 @@
[info] Log at : 2025/6/25|19:23:57|GMT+0800 [info] Log at : 2025/6/25|19:23:57|GMT+0800
[info] Log at : 2025/6/27|11:41:11|GMT+0800
[info] Log at : 2025/6/27|15:32:00|GMT+0800
[info] Log at : 2025/6/27|18:43:18|GMT+0800
[info] Log at : 2025/6/28|01:19:54|GMT+0800

3
MDK-ARM/.vscode/uv4.log vendored
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@ -1,9 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1' Build target 'R1'
compiling ball.cpp... compiling ball.cpp...
compiling shoot.cpp...
linking... linking...
Program Size: Code=31632 RO-data=1832 RW-data=268 ZI-data=32252 Program Size: Code=31188 RO-data=1832 RW-data=268 ZI-data=32252
FromELF: creating hex file... FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s). "R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:06 Build Time Elapsed: 00:00:06

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/26 22:06:06 2025/6/28 1:27:37

19
MDK-ARM/R1.uvoptx
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@ -173,22 +173,7 @@
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>ball_exit,0x0A</ItemText> <ItemText>nuc_v,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_v</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>asd,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow4> <MemoryWindow4>
@ -957,7 +942,7 @@
<Group> <Group>
<GroupName>User/device</GroupName> <GroupName>User/device</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

2
User/bsp/TopDefine.h
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@ -16,7 +16,7 @@
#endif #endif
#define ONE_CONTROL 1 #define ONE_CONTROL 0
//是否使用大疆DT7遥控器 //是否使用大疆DT7遥控器
#ifndef DT7 #ifndef DT7

45
User/module/ball.cpp
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@ -27,7 +27,7 @@ Ball ::Ball()
xiaomi.position = I_ANGLE; // xiaomi.position = I_ANGLE; //
xiaomi.speed = 25; // xiaomi.speed = 25; //
xiaomi.K_P = 80; // 位置增益 xiaomi.K_P = 80; // 位置增益
xiaomi.K_D =20; // 位置阻尼 xiaomi.K_D = 50; // 位置阻尼
xiaomi.K_C = 12; // 力矩 xiaomi.K_C = 12; // 力矩
xiaomi.Pmax = 1; // 好像没啥用 xiaomi.Pmax = 1; // 好像没啥用
@ -41,10 +41,8 @@ Ball ::Ball()
// 状态机状态初始化 // 状态机状态初始化
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800 // E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 200 中 1000 👇1800 // G键 sw[6]👆 200 中 1000 👇1800
// sw[5] 👆 200 👇1800 // sw[5] 👆 200 👇1800
@ -88,7 +86,6 @@ void Ball::Send_control()
CAN_XiaoMi(1, &xiaomi, &hcan2); CAN_XiaoMi(1, &xiaomi, &hcan2);
osDelay(1); osDelay(1);
} }
#if ONE_CONTROL == 0 #if ONE_CONTROL == 0
@ -98,7 +95,6 @@ void Ball::ballDown(void)
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
} }
void Ball::Move_Extend() void Ball::Move_Extend()
@ -119,7 +115,8 @@ void Ball::ball_control()
Move_Extend(); Move_Extend();
switch (rc_key){ switch (rc_key)
{
case MIDDLE2: case MIDDLE2:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
@ -127,7 +124,8 @@ void Ball::ball_control()
{ {
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
else { else
{
currentState1 = BALL_IDLE; // 默认回到空闲状态 currentState1 = BALL_IDLE; // 默认回到空闲状态
} }
break; break;
@ -138,17 +136,13 @@ void Ball::ball_control()
case DOWN2: case DOWN2:
ballHadling(); ballHadling();
//test_Handling();
break; break;
} }
Send_control(); Send_control();
} }
int ball_state = 0; int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态 int last_ball_state = 0; // 上一次的光电状态
@ -162,8 +156,6 @@ void Ball::ballHadling(void)
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if (rc_key == DOWN2) // 检测按键是否被按下 if (rc_key == DOWN2) // 检测按键是否被按下
{ {
currentState1 = BALL_FORWARD; currentState1 = BALL_FORWARD;
} }
break; break;
@ -197,8 +189,7 @@ void Ball::ballHadling(void)
break; break;
case BALL_CLOSE: case BALL_CLOSE:
osDelay(100);
osDelay(25);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到反转状态 currentState1 = BALL_FINISH; // 切换到反转状态
break; break;
@ -216,12 +207,8 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态 currentState1 = BALL_IDLE; // 默认回到空闲状态
break; break;
} }
} }
#endif #endif
#if ONE_CONTROL #if ONE_CONTROL
@ -234,7 +221,8 @@ void Ball::ball_control()
// 进攻 // 进攻
if (ready_key == SIDE) if (ready_key == SIDE)
{ {
switch (rc_key){ switch (rc_key)
{
case MIDDLE2: case MIDDLE2:
Idle_control(); Idle_control();
break; break;
@ -246,7 +234,6 @@ void Ball::ball_control()
case DOWN2: case DOWN2:
ballHadling(); ballHadling();
break; break;
} }
} }
// 防守 // 防守
@ -255,15 +242,12 @@ void Ball::ball_control()
xiaomi.position = I_ANGLE; // 保持收回 xiaomi.position = I_ANGLE; // 保持收回
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
} }
// 发送小米电机控制数据 // 发送小米电机控制数据
Send_control(); Send_control();
} }
// 任务通知来作全过程 // 任务通知来作全过程
void Ball::ballDown(void) void Ball::ballDown(void)
@ -279,6 +263,7 @@ void Ball::ballDown(void)
break; break;
case EXTEND_DOWN: case EXTEND_DOWN:
osDelay(500); // 不放太快
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
// 检测到球自由下落一次就切换状态 // 检测到球自由下落一次就切换状态
@ -292,6 +277,7 @@ void Ball::ballDown(void)
xiaomi.position = O_ANGLE; // 保持伸出 xiaomi.position = O_ANGLE; // 保持伸出
if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2) if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
{ {
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK); osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位 currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
} }
@ -313,7 +299,6 @@ void Ball::Idle_control()
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
osThreadFlagsClear(EXTEND_OK); osThreadFlagsClear(EXTEND_OK);
if (ready_key == SIDE) // 检测是否准备好 if (ready_key == SIDE) // 检测是否准备好
@ -349,7 +334,6 @@ void Ball::Idle_control()
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
// xiaomi.position = I_ANGLE; // xiaomi.position = I_ANGLE;
} }
int ball_state = 0; int ball_state = 0;
@ -368,7 +352,6 @@ void Ball::ballHadling(void)
{ {
currentState1 = BALL_FORWARD; currentState1 = BALL_FORWARD;
} }
} }
break; break;
@ -380,7 +363,7 @@ void Ball::ballHadling(void)
break; break;
case BALL_DROP: case BALL_DROP:
osDelay(100); // 延时 100ms osDelay(100); //不要动这里
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
// 一直检测有球（ball_state == 0），等球离开 // 一直检测有球（ball_state == 0），等球离开
if (ball_state == 1 && last_ball_state == 0) // 球离开 if (ball_state == 1 && last_ball_state == 0) // 球离开
@ -402,7 +385,7 @@ void Ball::ballHadling(void)
case BALL_CLOSE: case BALL_CLOSE:
osDelay(25); osDelay(100);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到反转状态 currentState1 = BALL_FINISH; // 切换到反转状态
break; break;
@ -418,10 +401,6 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态 currentState1 = BALL_IDLE; // 默认回到空闲状态
break; break;
} }
} }
#endif #endif