小修改

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

@@ -94,3 +94,5 @@
 
 [info] Log at : 2025/6/30|10:24:59|GMT+0800
 
+[info] Log at : 2025/7/1|10:57:51|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,76 +1,10 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Rebuild target 'R1'
+Build target 'R1'
-assembling startup_stm32f407xx.s...
-compiling dma.c...
-compiling spi.c...
-compiling gpio.c...
-compiling stm32f4xx_hal_msp.c...
-compiling tim.c...
-compiling stm32f4xx_it.c...
-compiling stm32f4xx_hal_rcc.c...
-compiling freertos.c...
-compiling main.c...
-compiling usart.c...
-compiling stm32f4xx_hal_can.c...
-compiling crc.c...
-compiling can.c...
-compiling stm32f4xx_hal_gpio.c...
-compiling stm32f4xx_hal_flash_ramfunc.c...
-compiling stm32f4xx_hal_flash_ex.c...
-compiling stm32f4xx_hal_flash.c...
-compiling stm32f4xx_hal_rcc_ex.c...
-compiling stm32f4xx_hal_cortex.c...
-compiling stm32f4xx_hal_pwr_ex.c...
-compiling stm32f4xx_hal_dma.c...
-compiling stm32f4xx_hal_crc.c...
-compiling stm32f4xx_hal.c...
-compiling stm32f4xx_hal_pwr.c...
-compiling croutine.c...
-compiling stm32f4xx_hal_exti.c...
-compiling event_groups.c...
-compiling list.c...
-compiling stm32f4xx_hal_dma_ex.c...
-compiling queue.c...
-compiling stream_buffer.c...
-compiling timers.c...
-compiling tasks.c...
-compiling heap_4.c...
-compiling system_stm32f4xx.c...
-compiling port.c...
-compiling stm32f4xx_hal_spi.c...
-compiling stm32f4xx_hal_uart.c...
-compiling stm32f4xx_hal_tim_ex.c...
-compiling stm32f4xx_hal_tim.c...
-compiling calc_lib.c...
-compiling crc_ccitt.c...
-compiling kalman.c...
-compiling cmsis_os2.c...
-compiling bsp_buzzer.c...
-compiling bsp_delay.c...
-compiling can_init.c...
-compiling can_it.c...
-compiling gpio_it.c...
-compiling uart_it.c...
-compiling filter.c...
-compiling pid.c...
-compiling user_math.c...
-compiling buzzer.c...
-compiling userTask.c...
-compiling detect.c...
 compiling shoot.cpp...
-compiling vofa.c...
-compiling remote_control.c...
-compiling djiMotor.c...
-compiling GO_M8010_6_Driver.c...
-compiling nuc.c...
 compiling ball.cpp...
-compiling initTask.c...
-compiling ballTask.cpp...
-compiling encodeCan.cpp...
-compiling nucTask.cpp...
 compiling shootTask.cpp...
 linking...
-Program Size: Code=32916 RO-data=1832 RW-data=276 ZI-data=32220  
+Program Size: Code=32968 RO-data=1832 RW-data=268 ZI-data=32220  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:04:01
+Build Time Elapsed:  00:00:06

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

@@ -1 +1 @@
-2025/6/30 14:27:15
+2025/7/1 14:54:30

User/module/ball.cpp

@@ -283,6 +283,7 @@ void Ball::ballDown(void)
         break;
 
     case EXTEND_FINISH:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
         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;

User/module/shoot.cpp

@@ -148,71 +148,6 @@ int Shoot::GO_SendData(float pos, float limit)
 // B键 sw[3]👆 200 开 中 1000  👇1800 关
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
-// void Shoot::rc_mode()
-// {
-//     if (rc_ctrl.sw[1] == 200)
-//     {
-//         rc_key = UP1;
-//     }
-//     if (rc_ctrl.sw[1] == 1800 && rc_ctrl.sw[2] == 200)
-//     {
-//         rc_key = MIDDLE1;
-//     }
-//     if (rc_ctrl.sw[2] == 1800 && rc_ctrl.sw[1] == 1800)
-//     {
-//         rc_key = DOWN1;
-//     }
-//     if (rc_ctrl.sw[0] == 1800)
-//     {
-//         mode_key = PASS;
-//     }
-//     if (rc_ctrl.sw[0] == 200)
-//     {
-//         mode_key = VSION;
-//     }
-//     // if(rc_ctrl.sw[5]==200)
-//     // {
-//     //     mode_key=OUT;
-//     // }
-//     if (rc_ctrl.sw[5] == 1800)
-//     {
-//         ready_key = OFFENSIVE;
-//     }
-//     else if (rc_ctrl.sw[5] == 200)
-//     {
-//         ready_key = DEFENSE;
-//     }
-
-//     // //旋钮增量
-//     // static int last_knob_value = 0; // 记录旋钮的上一次值
-//     // int current_knob_value = rc_ctrl.sw[7]; // 获取当前旋钮值
-
-//     // // 计算旋钮增量
-//     // if (current_knob_value >= 200 && current_knob_value <= 1800) {
-//     //     knob_increment = (current_knob_value - last_knob_value) / 15.0f; // 每80单位对应一个增量
-//     // } else {
-//     //     knob_increment = 0; // 如果旋钮值超出范围，不产生增量
-//     // }
-
-//     // 旋钮物理范围
-//     const int knob_min = 200;
-//     const int knob_max = 1800;
-
-//     // 目标映射范围
-//     const float map_min = 130.0f;
-//     const float map_max = -60.0f;
-
-//     int current_knob_value = rc_ctrl.sw[7];
-
-//     // 限制范围
-//     if (current_knob_value < knob_min)
-//         current_knob_value = knob_min;
-//     if (current_knob_value > knob_max)
-//         current_knob_value = knob_max;
-
-//     // 线性映射
-//     knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
-// }
 
 void Shoot::rc_mode()
 {
@@ -226,12 +161,14 @@ void Shoot::rc_mode()
         if (bottom_sensor == 0)
         {
             is_ready = true;
+            BSP_Buzzer_Stop();
 
-            // 可选：蜂鸣器提示“归零成功”
+           
         }
         else
         {
-            // 未到位，所有按键无效，直接返回
+            BSP_Buzzer_Start();
+            BSP_Buzzer_Set(1, 5000);
             return;
         }
     }
@@ -455,7 +392,7 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
-int shoot_wait = 0;
+
 void Shoot::shoot_control()
 {
 
@@ -503,6 +440,7 @@ void Shoot::shoot_control()
                         BSP_Buzzer_Stop();
                         currentState = SHOOT_IDLE;
                         osThreadFlagsClear(EXTEND_OK);
+                        osThreadFlagsClear(READY_TELL); //蓄力标志位
                         shoot_wait = 0;
                     }
                 }
@@ -557,6 +495,7 @@ void Shoot::shoot_control()
                             BSP_Buzzer_Stop();
                             currentState = SHOOT_IDLE;
                             osThreadFlagsClear(EXTEND_OK);
+                            osThreadFlagsClear(READY_TELL); //蓄力标志位
                             shoot_wait = 0;
                         }
                     }

User/module/shoot.hpp

@@ -112,6 +112,8 @@ private:
     
     float limit_speed;//go电机限速
 
+    int shoot_wait;
+
 
 };