ok去试试一键运两次球

MDK-ARM/.vscode/keil-assistant.log

@@ -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
+

MDK-ARM/.vscode/uv4.log

@@ -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
+Build Time Elapsed:  00:00:06
-=======
-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

MDK-ARM/.vscode/uv4.log.lock

@@ -1,5 +1 @@
-<<<<<<< HEAD
+2025/7/1 0:14:15
-2025/6/28 2:01:18
-=======
-2025/6/26 4:03:58
->>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

User/lib/calc_lib.c

@@ -165,5 +165,6 @@ fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max)
         return Limit_min;
     }
   
+    return *num;
 }
 

User/module/ball.cpp

@@ -77,14 +77,17 @@ void Ball::rc_mode()
       extern_key=OUT;  
     }
 
-    if(rc_ctrl.sw[5]==1800)
+    // if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
-    {
+    // {
-       ready_key=SIDE; 
+    //     rc_key = DOWN2;
-    }
+    // }
-    if(rc_ctrl.sw[5]==200)
+    // else
-    {
+    // {
-         ready_key=0; //默认不准备
+    //     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){
+    switch (currentState1)
-        case MIDDLE2:
+    {
+    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)
+        if (rc_key == DOWN2) // 检测按键是否被按下
         {
-            currentState1 = BALL_IDLE;
+            runCount = 0; // 每次拨动重新计数
-        }
+            currentState1 = BALL_FORWARD;
-        else {
-             currentState1 = BALL_IDLE; // 默认回到空闲状态
         }
         break;
 
-       case UP2: 
+    case BALL_FORWARD:
-        ballDown();
+        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: 
+        case BALL_DROP:
-        ballHadling();
+        osDelay(100); // 延时 100ms
-        //test_Handling();
+        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
 

User/task/ballTask.cpp

@@ -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;