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初始化在最顶上

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ws 2025-06-26 22:06:41 +08:00
parent 048319df42
commit 4fb6b424a1
6 changed files with 408 additions and 389 deletions
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5
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,9 @@
*** 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 shoot.cpp... compiling shoot.cpp...
linking... linking...
Program Size: Code=31636 RO-data=1832 RW-data=272 ZI-data=32248 Program Size: Code=31632 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: 00:00:05 Build Time Elapsed: 00:00:06

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/26 19:15:12 2025/6/26 22:06:06

3
User/bsp/TopDefine.h
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@ -18,9 +18,6 @@
#define ONE_CONTROL 1 #define ONE_CONTROL 1
//是否使用大疆DT7遥控器 //是否使用大疆DT7遥控器
#ifndef DT7 #ifndef DT7
#define DT7 0 #define DT7 0

7
User/module/ball.cpp
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@ -258,8 +258,7 @@ void Ball::ball_control()
} }
// 发送小米电机控制数据
Send_control(); Send_control();
} }
@ -321,10 +320,14 @@ void Ball::Idle_control()
{ {
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
if((osThreadFlagsGet() & READY_TELL) == 0)
{ {
osThreadFlagsSet(task_struct.thread.shoot, READY_TELL); osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
} }
} }
}
else else
{ {
xiaomi.position = I_ANGLE; // 默认回到收回位置 xiaomi.position = I_ANGLE; // 默认回到收回位置

204
User/module/shoot.cpp
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@ -36,7 +36,6 @@ const fp32 Shoot:: M2006_angle_PID[3] = { 15, 0.1, 0};
#define Tigger_ZERO 100 #define Tigger_ZERO 100
#define Tigger_ERROR 3 #define Tigger_ERROR 3
float knob_increment; float knob_increment;
Shoot::Shoot() Shoot::Shoot()
@ -49,7 +48,6 @@ Shoot::Shoot()
t_speedSet = 0; t_speedSet = 0;
result = 0; result = 0;
go1.id = 1, go1.id = 1,
go1.mode = 1, go1.mode = 1,
go1.K_P = 1.0f, go1.K_P = 1.0f,
@ -68,7 +66,6 @@ Shoot::Shoot()
currentState = SHOOT_IDLE; currentState = SHOOT_IDLE;
LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波 LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
} }
void Shoot::trigger_control() void Shoot::trigger_control()
@ -77,17 +74,14 @@ void Shoot::trigger_control()
delta = PID_calc(&angle_pid, trigger_Motor->total_angle, t_posSet); // 计算位置环PID delta = PID_calc(&angle_pid, trigger_Motor->total_angle, t_posSet); // 计算位置环PID
result = PID_calc(&speed_pid, trigger_Motor->speed_rpm, delta); // 计算速度环PID result = PID_calc(&speed_pid, trigger_Motor->speed_rpm, delta); // 计算速度环PID
CAN_cmd_200(result, 0, 0, 0, &hcan1); CAN_cmd_200(result, 0, 0, 0, &hcan1);
} }
void Shoot ::distanceGet(const NUC_t &nuc_v) void Shoot ::distanceGet(const NUC_t &nuc_v)
{ {
distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x); // 对视觉距离进行滤波处理 distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x); // 对视觉距离进行滤波处理
// distance=nuc_v.vision.x; // 获取自瞄数据 // distance=nuc_v.vision.x; // 获取自瞄数据
} }
int Shoot::GO_SendData(float pos, float limit) int Shoot::GO_SendData(float pos, float limit)
@ -109,11 +103,16 @@ int Shoot::GO_SendData(float pos,float limit)
//// float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current); //// float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
/*限制最大输入来限制最大输出*/ /*限制最大输入来限制最大输出*/
if (pos - q_current > limit) { if (pos - q_current > limit)
{
go1.Pos = q_current + limit; // 限制位置 go1.Pos = q_current + limit; // 限制位置
}else if (pos - q_current < -limit) { }
else if (pos - q_current < -limit)
{
go1.Pos = q_current - limit; // 限制位置 go1.Pos = q_current - limit; // 限制位置
}else { }
else
{
go1.Pos = pos; // 允许位置 go1.Pos = pos; // 允许位置
} }
@ -186,20 +185,19 @@ const float map_max = -60.0f;
int current_knob_value = rc_ctrl.sw[7]; int current_knob_value = rc_ctrl.sw[7];
// 限制范围 // 限制范围
if (current_knob_value < knob_min) current_knob_value = knob_min; if (current_knob_value < knob_min)
if (current_knob_value > knob_max) current_knob_value = knob_max; current_knob_value = knob_min;
if (current_knob_value > knob_max)
current_knob_value = knob_max;
// 线性映射 // 线性映射
knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min); knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
} }
#if ONE_CONTROL == 0 #if ONE_CONTROL == 0
void Shoot::shoot_control() { void Shoot::shoot_control()
{
// 方便调试 // 方便调试
feedback.fd_gopos = go1_data->Pos; feedback.fd_gopos = go1_data->Pos;
@ -208,22 +206,27 @@ void Shoot::shoot_control() {
{ {
case VSION: case VSION:
fire_pos = distance; // 视觉拟合的力 fire_pos = distance; // 视觉拟合的力
switch (rc_key) { switch (rc_key)
{
case DOWN1: case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置 control_pos = INIT_POS; // 默认中间挡位位置
go1.Pos = fire_pos; // 设置蓄力电机位置 go1.Pos = fire_pos; // 设置蓄力电机位置
// t_posSet = Tigger_ZERO; // 扳机松开 // t_posSet = Tigger_ZERO; // 扳机松开
if (currentState == SHOOT_READY) { if (currentState == SHOOT_READY)
{
// 如果当前状态是准备发射，松开钩子发射 // 如果当前状态是准备发射，松开钩子发射
t_posSet = Tigger_ZERO; // 扳机扣动 t_posSet = Tigger_ZERO; // 扳机扣动
BSP_Buzzer_Stop(); BSP_Buzzer_Stop();
if (t_posSet >= Tigger_ZERO-20) { // 假设120度为发射完成角度 if (t_posSet >= Tigger_ZERO - 20)
{ // 假设120度为发射完成角度
currentState = SHOOT_IDLE; // 切换到空闲状态 currentState = SHOOT_IDLE; // 切换到空闲状态
is_hooked = false; // 重置钩子状态 is_hooked = false; // 重置钩子状态
} }
} else { }
else
{
currentState = SHOOT_IDLE; // 默认回到空闲状态 currentState = SHOOT_IDLE; // 默认回到空闲状态
} }
break; break;
@ -244,22 +247,27 @@ break;
// 实时可调蓄力位置 // 实时可调蓄力位置
fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置 fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key) { switch (rc_key)
{
case DOWN1: case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置 control_pos = INIT_POS; // 默认中间挡位位置
go1.Pos = fire_pos; // 设置蓄力电机位置 go1.Pos = fire_pos; // 设置蓄力电机位置
// t_posSet = Tigger_ZERO; // 扳机松开 // t_posSet = Tigger_ZERO; // 扳机松开
if (currentState == SHOOT_READY) { if (currentState == SHOOT_READY)
{
// 如果当前状态是准备发射，松开钩子发射 // 如果当前状态是准备发射，松开钩子发射
t_posSet = Tigger_ZERO; // 扳机扣动 t_posSet = Tigger_ZERO; // 扳机扣动
BSP_Buzzer_Stop(); BSP_Buzzer_Stop();
if (t_posSet >= Tigger_ZERO-20) { // 假设120度为发射完成角度 if (t_posSet >= Tigger_ZERO - 20)
{ // 假设120度为发射完成角度
currentState = SHOOT_IDLE; // 切换到空闲状态 currentState = SHOOT_IDLE; // 切换到空闲状态
is_hooked = false; // 重置钩子状态 is_hooked = false; // 重置钩子状态
} }
} else { }
else
{
currentState = SHOOT_IDLE; // 默认回到空闲状态 currentState = SHOOT_IDLE; // 默认回到空闲状态
} }
break; break;
@ -282,8 +290,6 @@ break;
break; break;
} }
abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f); abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
// 发送数据到蓄力电机 // 发送数据到蓄力电机
GO_SendData(go1.Pos, limit_speed); GO_SendData(go1.Pos, limit_speed);
@ -295,14 +301,16 @@ break;
void Shoot ::shoot_Current() void Shoot ::shoot_Current()
{ {
switch (currentState) { switch (currentState)
{
case SHOOT_IDLE: case SHOOT_IDLE:
// 初始状态：钩子移动到顶部，钩住拉簧 // 初始状态：钩子移动到顶部，钩住拉簧
control_pos = TOP_POS; // 顶部位置 control_pos = TOP_POS; // 顶部位置
limit_speed = TO_TOP; // 快速上去 limit_speed = TO_TOP; // 快速上去
go1.Pos = control_pos; go1.Pos = control_pos;
t_posSet = Tigger_ZERO; // 扳机松开 t_posSet = Tigger_ZERO; // 扳机松开
if (feedback.fd_gopos <-209) { if (feedback.fd_gopos < -209)
{
currentState = SHOOT_TOP; // 切换到准备发射状态 currentState = SHOOT_TOP; // 切换到准备发射状态
} }
break; break;
@ -322,7 +330,8 @@ void Shoot :: shoot_Current()
{ {
go1.Pos = fire_pos; // 下拉到中间挡位位置 go1.Pos = fire_pos; // 下拉到中间挡位位置
limit_speed = TO_BOTTOM; // 慢速下来 limit_speed = TO_BOTTOM; // 慢速下来
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) { if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
{
BSP_Buzzer_Start(); BSP_Buzzer_Start();
BSP_Buzzer_Set(1, 5000); BSP_Buzzer_Set(1, 5000);
// currentState = SHOOT_WAIT; // 等待发射信号 // currentState = SHOOT_WAIT; // 等待发射信号
@ -331,14 +340,14 @@ void Shoot :: shoot_Current()
} }
break; break;
default: default:
currentState = SHOOT_IDLE; // 默认回到空闲状态 currentState = SHOOT_IDLE; // 默认回到空闲状态
break; break;
} }
} }
void Shoot::RemoveError() { void Shoot::RemoveError()
{
currentState = SHOOT_IDLE; currentState = SHOOT_IDLE;
control_pos = TOP_POS + 1.0f; control_pos = TOP_POS + 1.0f;
if (feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f) if (feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f)
@ -351,7 +360,6 @@ void Shoot::RemoveError() {
// 认为完全松开 // 认为完全松开
control_pos = INIT_POS; control_pos = INIT_POS;
BSP_Buzzer_Stop(); BSP_Buzzer_Stop();
} }
limit_speed = 3.0f; // 慢慢送上去 limit_speed = 3.0f; // 慢慢送上去
go1.Pos = control_pos; go1.Pos = control_pos;
@ -363,66 +371,32 @@ void Shoot::RemoveError() {
int asd = 0; int asd = 0;
void Shoot::shoot_control()
void Shoot::shoot_control() { {
// 方便调试 反馈信息 // 方便调试 反馈信息
feedback.fd_gopos = go1_data->Pos; feedback.fd_gopos = go1_data->Pos;
feedback.fd_tpos = trigger_Motor->total_angle; feedback.fd_tpos = trigger_Motor->total_angle;
shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位 shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位
if(ready_key==OFFENSIVE){ if (ready_key == OFFENSIVE)
{
switch (mode_key) switch (mode_key)
{ {
case VSION: case VSION:
fire_pos = distance; // 视觉拟合的力 fire_pos = distance; // 视觉拟合的力
switch (rc_key) { switch (rc_key)
{
case MIDDLE1: case MIDDLE1:
ball_receive(); // 执行接收球的操作 if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
{ {
go1.Pos = fire_pos; // 设置蓄力电机位置 // 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
if(feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) ball_receive();
}
else if (shoot_thread & EXTEND_OK)
{ {
BSP_Buzzer_Start(); go1.Pos = fire_pos;
BSP_Buzzer_Set(1,5000);
}
}
break;
case DOWN1:
if(shoot_thread & EXTEND_OK)
{
BSP_Buzzer_Stop();
t_posSet = Tigger_ZERO; // 扳机扣动 射出
currentState = SHOOT_IDLE; // 默认回到空闲状态
osThreadFlagsClear(EXTEND_OK);
}
break;
case UP1:
RemoveError();
break;
default:
break;
}
break;
//无自瞄拟合测试档
case TEST:
switch (rc_key) {
case MIDDLE1:
if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
{
asd++;
fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
go1.Pos = fire_pos; // 设置蓄力电机位置
limit_speed = TO_BOTTOM; limit_speed = TO_BOTTOM;
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
{ {
@ -430,28 +404,70 @@ break;
BSP_Buzzer_Set(1, 5000); BSP_Buzzer_Set(1, 5000);
} }
} }
else
{
ball_receive(); // 执行接收球的操作
}
break; break;
case DOWN1: case DOWN1:
if (shoot_thread & EXTEND_OK) if (shoot_thread & EXTEND_OK)
{ {
t_posSet = Tigger_ZERO; // 扳机扣动 射出 t_posSet = Tigger_ZERO;
if (feedback.fd_tpos >= Tigger_ZERO - 20) if (feedback.fd_tpos >= Tigger_ZERO - 20)
{ {
BSP_Buzzer_Stop(); BSP_Buzzer_Stop();
currentState = SHOOT_IDLE; // 默认回到空闲状态 currentState = SHOOT_IDLE;
osThreadFlagsClear(EXTEND_OK); osThreadFlagsClear(EXTEND_OK);
} }
}
break;
case UP1:
RemoveError();
break;
default:
break;
} }
break; break;
// 无自瞄拟合测试档
case TEST:
switch (rc_key)
{
case MIDDLE1:
if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
{
// 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
ball_receive(); // ball_receive内部写go1.Pos
}
else if (shoot_thread & EXTEND_OK)
{
// 只收到EXTEND_OK时，允许调节蓄力位置
fire_pos = INIT_POS + knob_increment;
go1.Pos = fire_pos;
limit_speed = TO_BOTTOM;
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
{
BSP_Buzzer_Start();
BSP_Buzzer_Set(1, 5000);
}
}
// 没收到READY_TELL不做任何蓄力
break;
case DOWN1:
if (shoot_thread & EXTEND_OK)
{
t_posSet = Tigger_ZERO;
if (feedback.fd_tpos >= Tigger_ZERO - 20)
{
BSP_Buzzer_Stop();
currentState = SHOOT_IDLE;
osThreadFlagsClear(EXTEND_OK);
}
}
break;
case UP1: case UP1:
RemoveError(); RemoveError();
break; break;
@ -465,14 +481,17 @@ break;
default: default:
break; break;
} }
}
else if (ready_key == DEFENSE)
{
control_pos = TOP_POS - 2.0f; //-209
go1.Pos = control_pos;
limit_speed = TO_TOP; // 快速上去
t_posSet = Tigger_ZERO; // 扳机松开
} }
else else
{ {
go1.Pos = TOP_POS-3.0f; //-208 t_posSet = Tigger_DO; // 防止debug时重复
limit_speed=TO_TOP;//快速上去
t_posSet = Tigger_ZERO; // 扳机松开
} }
abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f); abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
@ -526,10 +545,11 @@ void Shoot ::ball_receive()
go1.Pos = control_pos; go1.Pos = control_pos;
} }
void Shoot::RemoveError() { void Shoot::RemoveError()
{
currentState = SHOOT_IDLE; currentState = SHOOT_IDLE;
control_pos = TOP_POS; control_pos = TOP_POS;
if (feedback.fd_gopos >= control_pos - 0.5f&& feedback.fd_gopos<= control_pos + 0.5f) if (feedback.fd_gopos < -209)
{ {
t_posSet = Tigger_ZERO; t_posSet = Tigger_ZERO;
is_hooked = false; is_hooked = false;
@ -539,11 +559,9 @@ void Shoot::RemoveError() {
// 认为完全松开 // 认为完全松开
control_pos = INIT_POS; control_pos = INIT_POS;
BSP_Buzzer_Stop(); BSP_Buzzer_Stop();
} }
limit_speed = 3.0f; // 慢慢送上去 limit_speed = 3.0f; // 慢慢送上去
go1.Pos = control_pos; go1.Pos = control_pos;
} }
#endif #endif

2
User/task/shootTask.cpp
View File

@ -17,7 +17,7 @@ void FunctionShoot(void *argument)
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT; const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT;
osDelay(3000);//等待M2006电机启动
uint32_t tick = osKernelGetTickCount(); uint32_t tick = osKernelGetTickCount();
while(1) while(1)