基础运球

Core/Src/freertos.c

@@ -58,7 +58,7 @@ const osThreadAttr_t defaultTask_attributes = {
 osThreadId_t initTaskHandle;
 const osThreadAttr_t initTask_attributes = {
   .name = "initTask",
-  .stack_size = 128 * 4,
+  .stack_size = 256 * 4,
   .priority = (osPriority_t) osPriorityLow,
 };
 

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

@@ -30,3 +30,5 @@
 
 [info] Log at : 2025/6/13|19:56:03|GMT+0800
 
+[info] Log at : 2025/6/15|11:17:22|GMT+0800
+

MDK-ARM/.vscode/settings.json

@@ -2,6 +2,8 @@
     "files.associations": {
         "djimotor.h": "c",
         "user_math.h": "c",
-        "buzzer.h": "c"
+        "buzzer.h": "c",
+        "calc_lib.h": "c",
+        "usertask.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -2,7 +2,7 @@
 Build target 'R1'
 compiling calc_lib.c...
 linking...
-Program Size: Code=31512 RO-data=1884 RW-data=5820 ZI-data=33276  
+Program Size: Code=30644 RO-data=1884 RW-data=5816 ZI-data=33280  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
 Build Time Elapsed:  00:00:03

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

@@ -1 +1 @@
-2025/6/14 19:24:55
+2025/6/14 22:01:44

MDK-ARM/R1.uvoptx

@@ -153,7 +153,24 @@
           <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>82</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -190,6 +207,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>knob_increment</ItemText>
         </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>task_struct,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

R1.ioc

@@ -109,7 +109,7 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
 FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
 FREERTOS.IPParameters=Tasks01,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,configCHECK_FOR_STACK_OVERFLOW,configTOTAL_HEAP_SIZE,FootprintOK
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;initTask,8,128,initFunction,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;initTask,8,256,initFunction,As weak,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configTOTAL_HEAP_SIZE=0x6000
 File.Version=6

User/lib/calc_lib.c

@@ -1,7 +1,7 @@
 #include "calc_lib.h"
 #include <math.h>
 
-//微秒延时
+//΢ÃëÑÓʱ
 void user_delay_us(uint16_t us)
 {
 	 for(; us > 0; us--)
@@ -13,7 +13,7 @@ void user_delay_us(uint16_t us)
 	 }
 }
 
-//毫秒延时
+//ºÁÃëÑÓʱ
 void user_delay_ms(uint16_t ms)
 {
 	 for(; ms > 0; ms--)
@@ -22,7 +22,7 @@ void user_delay_ms(uint16_t ms)
 	 }
 }
 
-//浮点数范围限制
+//¸¡µãÊý·¶Î§ÏÞÖÆ
 void abs_limit_fp(fp32 *num, fp32 Limit)
 {
     if (*num > Limit)
@@ -35,7 +35,7 @@ void abs_limit_fp(fp32 *num, fp32 Limit)
     }
 }
 
-//整数范围限制
+//ÕûÊý·¶Î§ÏÞÖÆ
 void abs_limit_int(int64_t *num, int64_t Limit)
 {
     if (*num > Limit)
@@ -48,7 +48,7 @@ void abs_limit_int(int64_t *num, int64_t Limit)
     }
 }
 
-//循环限幅
+//Ñ­»·ÏÞ·ù
 fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue)
 {
     if (maxValue < minValue)
@@ -102,12 +102,12 @@ int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue)
     return Input;
 }
 
-int map(int x, int in_min, int in_max, int out_min, int out_max)		//映射函数
+int map(int x, int in_min, int in_max, int out_min, int out_max)		//Ó³É亯Êý
 {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max)		//映射函数
+fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max)		//Ó³É亯Êý
 {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
@@ -117,3 +117,23 @@ float expo_map(float value, float expo_factor) {
     return value * (1 - expo_factor) + value * fabs(value) * expo_factor;
 }
 
+
+bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold) {
+    static int count = 0;      // 满足条件的计数
+
+    if (count >= threshold) {
+			  count=0;//重置
+        return true; // 如果已经满足条件，返回 1
+			
+    }
+
+    // 判断三个值是否都满足条件
+    bool all_reached = (fabs(current1 - target1) < mistake) &&
+                       (fabs(current2 - target2) < mistake) &&
+                       (fabs(current3 - target3) < mistake);
+
+    if (all_reached) {
+        count++; // 所有条件都满足，计数加 1
+    } 
+    return false; // 未满足条件达到阈值，返回 0
+}

User/lib/calc_lib.h

@@ -7,6 +7,7 @@ extern "C"{
 
 #include "struct_typedef.h"
 #include<stdint.h>
+#include <stdbool.h>
 
 #define rad(code) ((code)*MOTOR_ECD_TO_RAD)
 
@@ -30,6 +31,9 @@ int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue);
 int map(int x, int in_min, int in_max, int out_min, int out_max);
 fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max);
 float expo_map(float value, float expo_factor);
+
+bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold);
+
 #ifdef __cplusplus
 }
 #endif

User/module/ball.cpp

@@ -6,8 +6,6 @@
 #include "user_math.h"
 #include "shoot.hpp"
 
-//int jy=1;
-
 extern RC_ctrl_t rc_ctrl;
 extern int key;
 extern int16_t M2006_result;
@@ -15,18 +13,23 @@ extern int16_t M2006_result;
 // C键 sw[5]👆 1800   中1000  👇200
 // D键 sw[6]👆 200   👇1800
 
+//伸缩
 #define M_SPEED 4000
 #define I_ANGLE1 180
 #define I_ANGLE2 -75
 #define O_ANGLE1 340
 #define O_ANGLE2 -240
 
+// 三摩擦轮电机
+#define M_SPEED1 3000
+#define M_BACK -4000
+
 #if HANDLING3 == 1
 //三摩擦轮运球！！！
 //添加平移3508 得跑位置吧
 
-const fp32 Ball:: M3508_speed_PID[3] = {15, 0.03, 0};
+const fp32 Ball:: M3508_speed_PID[3] = {30, 0.03, 0};
-const fp32 Ball:: Extend_speed_PID[3] = { 25, 0.0, 0.1};
+const fp32 Ball:: Extend_speed_PID[3] = { 40, 0.0, 0.1};
 const fp32 Ball:: Extend_angle_PID[3]=  { 25, 0.1, 0};
 
 //摩擦轮转速
@@ -74,43 +77,6 @@ Ball ::Ball()
 
 }
 
-// void Ball ::Extend_control(int angle)
-// {
-//     int16_t delta;
-//     angleSet = angle/2;
-
-//     fp32 angle_get;
-//     angle_get=motor_angle_change(Extern_Motor->real_round, angleSet);
-
-//     delta = PID_calc(&extend_angle_pid, angle_get, angleSet);
-//     e_result = PID_calc(&extend_speed_pid, Extern_Motor->speed_rpm, delta);
-  
-//     CAN_cmd_1FF(0,0,e_result,0,&hcan1);
-//     osDelay(1);
-
-// }
-
-//左0 右1
-//real_round 外 176  240  内 89 326
-
-// void Ball ::Extend_mcontrol(int angle1,int angle2)
-// {
-//     int16_t delta[2];
-//     angleSet[0] = angle1/2;
-//     angleSet[1] = angle2/2;
-
-//     fp32 angle_get[2];
-//     angle_get[0] = motor_angle_change(Extern_Motor[0]->real_round, angleSet[0]);
-//     angle_get[1] = motor_angle_change(Extern_Motor[1]->real_round, angleSet[1]);
-
-//     delta[0] = PID_calc(&extend_angle_pid[0], angle_get[0] , angleSet[0]);
-//     e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]);
-
-//     delta[1] = PID_calc(&extend_angle_pid[1], angle_get[1] , angleSet[1]);
-//     e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]);
-
-// }
-
 
 void Ball ::Extend_mcontrol(int angle1,int angle2)
 {
@@ -130,31 +96,17 @@ void Ball ::Extend_mcontrol(int angle1,int angle2)
 
 }
 
-void Ball ::Extend_control(int angle)
-{
-    int16_t delta[2];
-    angleSet[0] = angle;
-    angleSet[1] = -angle;
 
-    delta[0] = PID_calc(&extend_angle_pid[0],Extern_Motor[0]->total_angle , angleSet[0]);
+void Ball ::Spin()
-    e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]);
-
-    delta[1] = PID_calc(&extend_angle_pid[1], Extern_Motor[1]->total_angle , angleSet[1]);
-    e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]);
-
-}
-
-
-void Ball ::Spin(float speed)
 {
 
-    speedSet[MOTOR_1] = -speed;
+    speedSet[MOTOR_1] = speed_set;
     result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
 
-    speedSet[MOTOR_2] = speed;
+    speedSet[MOTOR_2] = speed_set;
     result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);
 
-    speedSet[MOTOR_3] = speed;
+    speedSet[MOTOR_3] = speed_set;
     result[MOTOR_3] = PID_calc(&speed_pid[MOTOR_3],hand_Motor[MOTOR_3]->speed_rpm,speedSet[MOTOR_3]);
 
 }
@@ -162,14 +114,7 @@ void Ball ::Spin(float speed)
 void Ball::ballDown(void)
 {
      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
-     speedm=-500;
+     speed_set=500;
-
-}
-
-void Ball::ballStop(void)
-{
-    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保闭合气缸
-     speedm=0;
 
 }
 
@@ -189,73 +134,127 @@ void Ball::Move_Extend(void)
     }
 }
 
- 
+// C键 sw[5]👆 200   中1000  👇1800
-void Ball::ballHadling(void)
+// D键 sw[6]👆 200   👇1800
+void Ball::rc_mode()
+{
+    if(rc_ctrl.sw[5]==200)
+    {
+        rc_key=UP2;
+    }
+     if(rc_ctrl.sw[5]==1000)
+    {
+        rc_key=MIDDLE2;
+    }
+     if(rc_ctrl.sw[5]==1800)
+    {
+        rc_key=DOWN2;
+    }
+
+    if(rc_ctrl.sw[6]==200)
+    {
+      extern_key=IN;  
+    }
+    if(rc_ctrl.sw[6]==1800)
+    {
+      extern_key=OUT;  
+    }
+
+}
+
+
+void Ball::ball_control()
 {
-    static int last_sw5 = 0; // 保存上一次拨杆状态
     ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 有球 1 无球 0
 
-    switch (currentState1)
+    Move_Extend();
-    {
+
-    case BALL_IDLE:
+    switch (rc_key){
-        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保闭合气缸
+        case MIDDLE2:
-        // 只在拨杆从非200切到200时触发
+        speed_set=0;
-        if ((rc_ctrl.sw[5] == 200 && last_sw5 != 200) || key > 0)
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸          
+        if (currentState1 == BALL_FINISH)
         {
-            speedm = -4000;
+            currentState1 = BALL_IDLE;
-            currentState1 = BALL_FORWARD; // 切换到正转状态
+        }
+        else {
+             currentState1 = BALL_IDLE; // 默认回到空闲状态
         }
         break;
 
-    case BALL_FORWARD:
+       case UP2: 
-        if (hand_Motor[MOTOR_1]->speed_rpm >= 3980 && hand_Motor[MOTOR_1]->speed_rpm <= 4020 &&
+        Three_Handing();
-            hand_Motor[MOTOR_2]->speed_rpm <= -3980 && hand_Motor[MOTOR_2]->speed_rpm >= -4020 &&
-            hand_Motor[MOTOR_3]->speed_rpm <= -3980 && hand_Motor[MOTOR_3]->speed_rpm >= -4020)
-        {
-            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸
-            currentState1 = BALL_DROP; // 切换到球下落状态
-        }
         break;
 
+        case DOWN2: 
+        ballDown();
+
+        break;
+
+    }
+
+    Spin(); 
+
+    Send_control(); 
+
+}
+
+void Ball::Three_Handing()
+{
+    switch (currentState1){
+    case BALL_IDLE:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸          
+        currentState1 = BALL_FORWARD; // 切换到正转状态
+
+        break;
+    case BALL_FORWARD:
+        speed_set=M_SPEED1;
+        if(is_reached_multiple(hand_Motor[MOTOR_1]->speed_rpm,
+                            hand_Motor[MOTOR_2]->speed_rpm,
+                            hand_Motor[MOTOR_3]->speed_rpm,
+                            speed_set,
+                            speed_set,
+                            speed_set,
+                            50.f,50))
+        {
+          currentState1 = BALL_DROP; // 切换到球下落状态  
+        }
+       break;
+
     case BALL_DROP:
-        if (ball_state == 0) // 读光电 有球 1  无球 0
+      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸
+            if (ball_state == 0) // 读光电 有球 1  无球 0
         {
             osDelay(200); // 延时200ms
-            speedm = 3500;
+            speed_set = M_BACK;
             currentState1 = BALL_REVERSE; // 切换到反转状态
         }
         break;
-
     case BALL_REVERSE:
         if (ball_state == 1)
         {
-            speedm = 0; // 停止电机
+            speed_set = 0;
             currentState1 = BALL_CLOSE; // 切换到完成状态
         }
         break;
-
     case BALL_CLOSE:
-        if (ball_state == 1)
+        if(ball_state == 1)
         {
             HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
             currentState1 = BALL_FINISH; // 切换到完成状态
-        }
-        break;
 
+        } 
     case BALL_FINISH:
-        osDelay(200); // 延时200ms
         key = 0; // 重置按键状态
-        speedm = 0;
+        speed_set = 0;
         osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
-        currentState1 = BALL_IDLE; // 直接回到空闲状态
+        //currentState1 = BALL_IDLE; // 直接回到空闲状态
-        break;
+        break;       
-
     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;    
-    }
 
-    last_sw5 = rc_ctrl.sw[5]; // 更新上一次拨杆状态
+    }
 }
 
 void Ball::Send_control()

User/module/ball.hpp

@@ -9,7 +9,7 @@
 #include "djiMotor.h"
 #include "pid.h"
 #include "filter.h"
-
+#include "calc_lib.h"
 
 // 定义状态枚举
 typedef enum {
@@ -36,11 +36,14 @@ typedef enum
     MOTOR_NUM
 }motorhangd_e;
 
-  /* 滤波器 */
+typedef enum
-  typedef struct {
+{
-    LowPassFilter2p_t *in;  /* 反馈值滤波器 */
+    UP2=1,
-    LowPassFilter2p_t *out; /* 输出值滤波器 */
+    MIDDLE2,
-  } Filter;
+    DOWN2,
+    IN,
+    OUT
+}ball_rc_mode;
 
 // 定义光电传感器检测宏
 #define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)
@@ -49,14 +52,16 @@ class Ball
 {
 public:
     Ball();
-    void Spin(float speed);
+    void Spin(void);
     void ballHadling(void);
     void ballDown(void);
     void Send_control(void);
     void ballStop(void);
     void Move_Extend(void);
-    void Extend_control(int angle);
+    void rc_mode(void);
     void Extend_mcontrol(int angle1,int angle2);
+    void Three_Handing(void);
+    void ball_control(void);
   
     BallState_t currentState1; // 当前状态
     int flag;//暂时还没用到
@@ -66,9 +71,12 @@ public:
     int16_t e_result[2];
     motor_measure_t *  Extern_Motor[2];
 
+    float speed_set;
     int16_t result[MOTOR_NUM];
     motor_measure_t *hand_Motor[MOTOR_NUM];
 //==========================公共变量==========================//
+    int16_t rc_key; //遥控器按键
+    int16_t extern_key;
     //用于传接球,运球后通知
     volatile BallState_t ballStatus;//是否有球
     volatile uint32_t flag_thread;//接收传回的线程通知

User/module/shoot.cpp

@@ -198,7 +198,7 @@ void Shoot::shoot_control() {
     }
 
     // 发送数据到蓄力电机
-    //GO_SendData(go1.Pos, 5.0f);
+    GO_SendData(go1.Pos, 5.0f);
 
     // 控制扳机电机
     trigger_control();
@@ -235,7 +235,7 @@ void Shoot :: shoot_Current()
                 if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) {
                   BSP_Buzzer_Start();			
 		         // BSP_Buzzer_Set(1,5000);
-                 see_you_again();
+              //   see_you_again();
                     //currentState = SHOOT_WAIT; // 等待发射信号
                     //在拨杆切换时触发了
                 }

User/task/ballTask.cpp

@@ -39,45 +39,9 @@ void FunctionBall(void *argument)
 
   abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
 
-
+    ball.rc_mode(); // 遥控器模式  
-//    if(rc_ctrl.sw[6] == 200)
+    
-//     {
+    ball.ball_control(); // 控制球的动作    
-//         angle1=85;
-//     }
-//     if(rc_ctrl.sw[6]==1800)
-//     {
-//         angle1=10;
-      
-//     }
-
-//      //运球
-//     if(rc_ctrl.sw[5]==200)
-//     {
-//         //👇
-//         ball.ballHadling(); // 处理摩擦轮转动
-//     }
-//      //下球     
-//     if(rc_ctrl.sw[5]==1800)
-//     {
-//         //👆
-//         ball.ballDown();
-//     }
-//     //中间
-//     if(rc_ctrl.sw[7]==200)
-//     {
-//          if(rc_ctrl.sw[5]==1000)
-//         {
-//             //中
-//             ball.ballStop();
-//             ball.ballHadling(); // 处理摩擦轮转动
-//         }
-//     }
-
-    //ball.Extend_control(test111);
-    ball.Move_Extend();
-     // ball.Extend_mcontrol(angle1,angle2); // 内伸
-    ball.Spin(speedm);
-    ball.Send_control();
 
       // vofa[0] = -speedm; // 发送电机角度数据
       // vofa[1] = ball.hand_Motor[0]->speed_rpm; // 发送电机角度数据

User/task/initTask.c

@@ -17,8 +17,6 @@ void initFunction(void *argument)
 
     osKernelLock();
     /* 创建任务 */
-    task_struct.thread.gimbal	=
-        osThreadNew(FunctionGimbal, NULL, &attr_gimbal);
 	task_struct.thread.shoot	=
         osThreadNew(FunctionShoot, NULL, &attr_shoot);
     task_struct.thread.can =

User/task/userTask.h

@@ -19,7 +19,7 @@ extern "C" {
 #define TASK_FREQ_MONITOR (2u)
 #define TASK_FREQ_CAN (1500u)
 #define TASK_FREQ_AI (500u)
-#define TASK_FREQ_BALL (500u)
+#define TASK_FREQ_BALL (700u)
 
 #define TASK_INIT_DELAY_INFO (500u)
 #define TASK_INIT_DELAY_MONITOR (10)
@@ -99,7 +99,6 @@ typedef struct
 /* Exported functions ------------------------------------------------------- */
 extern task_t task_struct; /* 任务结构体实例化 */
 extern const osThreadAttr_t attr_shoot;
-extern const osThreadAttr_t attr_gimbal;
 extern const osThreadAttr_t attr_can;
 extern const osThreadAttr_t attr_ball;
 extern const osThreadAttr_t attr_nuc;
@@ -108,7 +107,6 @@ extern const osEventFlagsAttr_t attr_event;
 
 /* Exported functions prototypes -------------------------------------------- */
 void FunctionTake(void *argument);
-void FunctionGimbal(void *argument);
 void FunctionShoot(void *argument);
 void FunctionCan(void *argument);
 void FunctionRc(void *argument);