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ok去试试一键运两次球

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This commit is contained in:
ws 2025-07-01 00:14:45 +08:00
parent 512c223748
commit 4de285abfb
6 changed files with 144 additions and 241 deletions
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2
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -92,3 +92,5 @@
[info] Log at : 2025/6/30|23:49:51|GMT+0800
[info] Log at : 2025/7/1|00:00:07|GMT+0800

14
MDK-ARM/.vscode/uv4.log vendored
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@ -1,18 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
<<<<<<< HEAD
compiling ballTask.cpp...
compiling ball.cpp...
linking...
Program Size: Code=28860 RO-data=1832 RW-data=276 ZI-data=32252
Program Size: Code=28876 RO-data=1832 RW-data=276 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:05
=======
compiling ball.cpp...
linking...
Program Size: Code=31096 RO-data=1832 RW-data=276 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:04
>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
Build Time Elapsed: 00:00:06

6
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1,5 +1 @@
<<<<<<< HEAD
2025/6/28 2:01:18
=======
2025/6/26 4:03:58
>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
2025/7/1 0:14:15

1
User/lib/calc_lib.c
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@ -165,5 +165,6 @@ fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max)
return Limit_min;
}
return *num;
}

360
User/module/ball.cpp
View File

@ -77,14 +77,17 @@ void Ball::rc_mode()
extern_key=OUT;
}
if(rc_ctrl.sw[5]==1800)
{
ready_key=SIDE;
}
if(rc_ctrl.sw[5]==200)
{
ready_key=0; //默认不准备
}
// if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
// {
// rc_key = DOWN2;
// }
// else
// {
// rc_key = 0; // 其他情况不触发
// }
// last_sw5 = rc_ctrl.sw[5];
}
void Ball::Send_control()
@ -166,44 +169,156 @@ void Ball::Move_Extend()
// }
//int ball_state = 0;
int runCount = 0; // 运球次数计数
int last_ball_state = 0; // 上一次的光电状态
int step = 0; // 0:持球 1:击球 2:反弹 3:完全离开
void Ball::ball_control()
void Ball::ball_control()
{
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
Move_Extend();
switch (rc_key){
case MIDDLE2:
switch (currentState1)
{
case BALL_IDLE:
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)
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
{
currentState1 = BALL_IDLE;
}
else {
currentState1 = BALL_IDLE; // 默认回到空闲状态
runCount = 0; // 每次拨动重新计数
currentState1 = BALL_FORWARD;
}
break;
case UP2:
ballDown();
case BALL_FORWARD:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
osDelay(5);
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
break;
case DOWN2:
ballHadling();
//test_Handling();
case BALL_DROP:
osDelay(100); // 延时 100ms
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
if (ball_state == 1 && last_ball_state == 0) // 球离开
{
currentState1 = BALL_FLAG;
}
last_ball_state = ball_state;
break;
case BALL_FLAG:
osDelay(10); // 延时 50ms
// 等待球弹回再次检测到球
if (ball_state == 0 && last_ball_state == 1) // 球弹回
{
currentState1 = BALL_CLOSE;
}
last_ball_state = ball_state;
break;
case BALL_CLOSE:
osDelay(100);
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
break;
case BALL_FINISH:
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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
runCount++;
if (runCount < 2)
{
currentState1 = BALL_FORWARD; // 继续下一次运球
}
else
{
currentState1 = BALL_IDLE; // 完成两次，回到空闲
}
break;
default:
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
Send_control();
}
// void Ball::ball_control()
// {
// ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
// Move_Extend();
// switch (currentState1)
// {
// case BALL_IDLE:
// 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 (rc_key == DOWN2) // 检测按键是否被按下
// {
// currentState1 = BALL_FORWARD;
// }
// break;
// case BALL_FORWARD:
// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
// osDelay(5);
// 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
// break;
// case BALL_DROP:
// osDelay(100); // 延时 100ms
// 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
// if (ball_state == 1 && last_ball_state == 0) // 球离开
// {
// currentState1 = BALL_FLAG;
// }
// last_ball_state = ball_state;
// break;
// case BALL_FLAG:
// osDelay(10); // 延时 50ms
// // 等待球弹回再次检测到球
// if (ball_state == 0 && last_ball_state == 1) // 球弹回
// {
// currentState1 = BALL_CLOSE;
// }
// last_ball_state = ball_state;
// break;
// case BALL_CLOSE:
// osDelay(100);
// 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
// break;
// case BALL_FINISH:
// 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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
// currentState1 = BALL_IDLE; // 回到空闲状态
// break;
// default:
// currentState1 = BALL_IDLE; // 默认回到空闲状态
// break;
// }
// Send_control();
// }
void Ball::Close(void)
{
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
@ -433,7 +548,6 @@ void Ball::ballHadling(void)
}
int runCount = 0; // 运球次数计数
void Ball::ballHadling_two(void)
{
@ -504,203 +618,5 @@ void Ball::ballHadling_two(void)
#endif
#if ONE_CONTROL
void Ball::ball_control()
{
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)
//进攻
if(ready_key==SIDE)
{
switch (rc_key){
case MIDDLE2:
Idle_control();
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
break;
}
}
//防守
else
{
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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
}
Send_control();
}
//任务通知来作全过程
void Ball::ballDown(void)
{
switch(currentState1)
{
case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回
if(feedback->position_deg >= I_ANGLE-0.8 && feedback->position_deg <= I_ANGLE+0.8)
{
currentState1 = EXTEND_DOWN;
}
break;
case EXTEND_DOWN:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
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
if(ball_state == 1)
{
currentState1 = EXTEND_OUT;
}
break;
case EXTEND_OUT:
xiaomi.position = O_ANGLE; // 保持伸出
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:
xiaomi.position = O_ANGLE; // 一直保持伸出
// 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()
{
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
osThreadFlagsClear(EXTEND_OK);
if(ready_key==SIDE) // 检测是否准备好
{
xiaomi.position = WAIT_POS;
if(feedback->position_deg >= WAIT_POS-3)
{
osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
}
}
else
{
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
if(currentState1==EXTEND_FINISH)//转移后
{
xiaomi.position = I_ANGLE;
currentState1 = BALL_IDLE;
}
if(currentState1==BALL_FINISH)//运球完成
{
xiaomi.position = O_ANGLE;
currentState1 = BALL_IDLE;
}
else
{
currentState1 = BALL_IDLE;
}
//xiaomi.position = I_ANGLE;
}
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
void Ball::ballHadling(void)
{
switch (currentState1)
{
case BALL_IDLE:
if (rc_key == DOWN2)
{
xiaomi.position = O_ANGLE;//外伸
if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
{
currentState1 = BALL_FORWARD;
}
}
break;
case BALL_FORWARD:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
osDelay(5);
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
break;
case BALL_DROP:
osDelay(100); // 延时 100ms
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
if (ball_state == 1 && last_ball_state == 0) // 球离开
{
currentState1 = BALL_FLAG;
}
last_ball_state = ball_state;
break;
case BALL_FLAG:
osDelay(10); // 延时 50ms
// 等待球弹回再次检测到球
if (ball_state == 0 && last_ball_state == 1) // 球弹回
{
currentState1 = BALL_CLOSE;
}
last_ball_state = ball_state;
break;
case BALL_CLOSE:
osDelay(25);
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
break;
case BALL_FINISH:
osDelay(50); // 延时 50ms
//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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
break;
default:
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
#endif

2
User/task/ballTask.cpp
View File

@ -8,11 +8,9 @@
#include "vofa.h"
extern RC_ctrl_t rc_ctrl;
Ball ball;
//float vofa[8];
//检查光电
int abc=0;
int aaaa=146;
extern int speedm;