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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

339
User/module/ball.cpp
View File

@ -9,105 +9,101 @@
extern RC_ctrl_t rc_ctrl; extern RC_ctrl_t rc_ctrl;
extern int ball_exit; extern int ball_exit;
//伸缩 // 伸缩
#define I_ANGLE 147 #define I_ANGLE 147
#define O_ANGLE 187 #define O_ANGLE 187
#define WAIT_POS 170 #define WAIT_POS 170
//PE11 气缸 // PE11 气缸
Ball ::Ball() Ball ::Ball()
{ {
detect_init(); detect_init();
//小米电机 // 小米电机
feedback=get_CyberGear_point(); feedback = get_CyberGear_point();
//小米电机初始化 // 小米电机初始化
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
// //小米电机初始化 // //小米电机初始化
// xiaomi.position = 0; // // xiaomi.position = 0; //
// xiaomi.speed = 0; // // xiaomi.speed = 0; //
// xiaomi.K_P = 0; // // xiaomi.K_P = 0; //
// xiaomi.K_D =0; // // xiaomi.K_D =0; //
// xiaomi.K_C = 0 ; // xiaomi.K_C = 0 ;
// xiaomi.Pmax =0; // xiaomi.Pmax =0;
//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
//左旋 sw[7] 200 --1800 // 左旋 sw[7] 200 --1800
void Ball::rc_mode() void Ball::rc_mode()
{ {
if(rc_ctrl.sw[6]==200) if (rc_ctrl.sw[6] == 200)
{ {
rc_key=UP2; rc_key = UP2;
} }
if(rc_ctrl.sw[6]==1000) if (rc_ctrl.sw[6] == 1000)
{ {
rc_key=MIDDLE2; rc_key = MIDDLE2;
} }
if(rc_ctrl.sw[6]==1800) if (rc_ctrl.sw[6] == 1800)
{ {
rc_key=DOWN2; rc_key = DOWN2;
} }
if(rc_ctrl.sw[5]==200) if (rc_ctrl.sw[5] == 200)
{ {
extern_key=IN; extern_key = IN;
} }
if(rc_ctrl.sw[5]==1800) if (rc_ctrl.sw[5] == 1800)
{ {
extern_key=OUT; extern_key = OUT;
} }
if(rc_ctrl.sw[5]==1800) if (rc_ctrl.sw[5] == 1800)
{ {
ready_key=SIDE; ready_key = SIDE;
} }
if(rc_ctrl.sw[5]==200) if (rc_ctrl.sw[5] == 200)
{ {
ready_key=0; //默认不准备 ready_key = 0; // 默认不准备
} }
} }
void Ball::Send_control() void Ball::Send_control()
{ {
CAN_XiaoMi(1,&xiaomi,&hcan2);
osDelay(1);
CAN_XiaoMi(1, &xiaomi, &hcan2);
osDelay(1);
} }
#if ONE_CONTROL==0 #if ONE_CONTROL == 0
void Ball::ballDown(void) 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()
{ {
if(extern_key==IN) if (extern_key == IN)
{ {
xiaomi.position = I_ANGLE; xiaomi.position = I_ANGLE;
} }
if(extern_key==OUT) if (extern_key == OUT)
{ {
xiaomi.position = O_ANGLE; xiaomi.position = O_ANGLE;
} }
@ -119,64 +115,60 @@ void Ball::ball_control()
Move_Extend(); Move_Extend();
switch (rc_key){ switch (rc_key)
case MIDDLE2: {
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); //确保爪气缸关闭 case MIDDLE2:
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 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
if (currentState1 == BALL_FINISH) if (currentState1 == BALL_FINISH)
{ {
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;
case UP2: case UP2:
ballDown(); ballDown();
break; break;
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
void Ball::ballHadling(void) void Ball::ballHadling(void)
{ {
switch (currentState1) switch (currentState1)
{ {
case BALL_IDLE: case BALL_IDLE:
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
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;
case BALL_FORWARD: case BALL_FORWARD:
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
osDelay(5); osDelay(5);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
currentState1 = BALL_DROP; // 切换到球下落状态 currentState1 = BALL_DROP; // 切换到球下落状态
break; break;
case BALL_DROP: case BALL_DROP:
osDelay(100); // 延时 100ms osDelay(100); // 延时 100ms
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
@ -186,7 +178,7 @@ void Ball::ballHadling(void)
last_ball_state = ball_state; last_ball_state = ball_state;
break; break;
case BALL_FLAG: case BALL_FLAG:
osDelay(10); // 延时 50ms osDelay(10); // 延时 50ms
// 等待球弹回再次检测到球 // 等待球弹回再次检测到球
if (ball_state == 0 && last_ball_state == 1) // 球弹回 if (ball_state == 0 && last_ball_state == 1) // 球弹回
@ -197,18 +189,17 @@ 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;
case BALL_FINISH: case BALL_FINISH:
osDelay(50); // 延时 50ms osDelay(50); // 延时 50ms
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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
//currentState1 = BALL_IDLE; // 回到空闲状态 // currentState1 = BALL_IDLE; // 回到空闲状态
break; break;
@ -216,11 +207,7 @@ 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
@ -228,101 +215,99 @@ void Ball::ballHadling(void)
void Ball::ball_control() void Ball::ball_control()
{ {
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位 hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0) ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
//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;
case UP2: case UP2:
ballDown(); ballDown();
break; break;
case DOWN2:
ballHadling();
break;
case DOWN2:
ballHadling();
break;
}
} }
} // 防守
//防守
else else
{ {
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
Send_control();
// 发送小米电机控制数据
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)
{ {
switch(currentState1) switch (currentState1)
{ {
case BALL_IDLE: case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回 xiaomi.position = I_ANGLE; // 保持收回
if(feedback->position_deg >= I_ANGLE-0.8 && feedback->position_deg <= I_ANGLE+0.8) if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
{ {
currentState1 = EXTEND_DOWN; currentState1 = EXTEND_DOWN;
} }
break; break;
case EXTEND_DOWN: case EXTEND_DOWN:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); osDelay(500); // 不放太快
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
// 检测到球自由下落一次就切换状态 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
if(ball_state == 1) // 检测到球自由下落一次就切换状态
{ if (ball_state == 1)
currentState1 = EXTEND_OUT; {
} currentState1 = EXTEND_OUT;
break; }
break;
case EXTEND_OUT: case EXTEND_OUT:
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);
currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
}
break;
case EXTEND_FINISH: osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
xiaomi.position = O_ANGLE; // 一直保持伸出 currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
// 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位 }
break; break;
default: case EXTEND_FINISH:
currentState1 = BALL_IDLE; xiaomi.position = O_ANGLE; // 一直保持伸出
break; // 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
break;
default:
currentState1 = BALL_IDLE;
break;
} }
} }
void Ball::Idle_control() 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
{ {
xiaomi.position = WAIT_POS; xiaomi.position = WAIT_POS;
if(feedback->position_deg >= WAIT_POS-3) if (feedback->position_deg >= WAIT_POS - 3)
{ {
// 只在READY_TELL未置位时发送，防止重复 // 只在READY_TELL未置位时发送，防止重复
if((osThreadFlagsGet() & READY_TELL) == 0) if ((osThreadFlagsGet() & READY_TELL) == 0)
{ {
osThreadFlagsSet(task_struct.thread.shoot, READY_TELL); osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
} }
@ -332,55 +317,53 @@ void Ball::Idle_control()
{ {
xiaomi.position = I_ANGLE; // 默认回到收回位置 xiaomi.position = I_ANGLE; // 默认回到收回位置
} }
// 拨杆回到中间挡位时，回位并重置状态机 // 拨杆回到中间挡位时，回位并重置状态机
if(currentState1==EXTEND_FINISH)//转移后 if (currentState1 == EXTEND_FINISH) // 转移后
{ {
xiaomi.position = I_ANGLE; xiaomi.position = I_ANGLE;
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
if(currentState1==BALL_FINISH)//运球完成 if (currentState1 == BALL_FINISH) // 运球完成
{ {
xiaomi.position = O_ANGLE; xiaomi.position = O_ANGLE;
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
else else
{ {
currentState1 = BALL_IDLE; currentState1 = BALL_IDLE;
} }
//xiaomi.position = I_ANGLE; // xiaomi.position = I_ANGLE;
} }
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
void Ball::ballHadling(void) void Ball::ballHadling(void)
{ {
switch (currentState1) switch (currentState1)
{ {
case BALL_IDLE: case BALL_IDLE:
if (rc_key == DOWN2) if (rc_key == DOWN2)
{ {
xiaomi.position = O_ANGLE;//外伸 xiaomi.position = O_ANGLE; // 外伸
if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位 if (feedback->position_deg >= O_ANGLE - 1) // 确保伸缩电机到位
{ {
currentState1 = BALL_FORWARD; currentState1 = BALL_FORWARD;
} }
} }
break; break;
case BALL_FORWARD: case BALL_FORWARD:
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
osDelay(5); osDelay(5);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
currentState1 = BALL_DROP; // 切换到球下落状态 currentState1 = BALL_DROP; // 切换到球下落状态
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
@ -390,7 +373,7 @@ void Ball::ballHadling(void)
last_ball_state = ball_state; last_ball_state = ball_state;
break; break;
case BALL_FLAG: case BALL_FLAG:
osDelay(10); // 延时 50ms osDelay(10); // 延时 50ms
// 等待球弹回再次检测到球 // 等待球弹回再次检测到球
if (ball_state == 0 && last_ball_state == 1) // 球弹回 if (ball_state == 0 && last_ball_state == 1) // 球弹回
@ -402,26 +385,22 @@ 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;
case BALL_FINISH: case BALL_FINISH:
osDelay(50); // 延时 50ms osDelay(50); // 延时 50ms
//osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH); // osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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
break; break;
default: default:
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