From 665de4aef4aaa2a506daf736122ab930929418d1 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Sun, 13 Jul 2025 16:35:19 +0800
Subject: [PATCH] =?UTF-8?q?=E8=80=81=E5=8D=B7=E7=B0=A7=E6=B2=A1=E6=8B=9F?=
 =?UTF-8?q?=E5=90=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/.vscode/keil-assistant.log |  8 ++++++++
 MDK-ARM/.vscode/uv4.log            |  4 ++--
 MDK-ARM/.vscode/uv4.log.lock       |  2 +-
 MDK-ARM/R1.uvoptx                  | 21 ++-------------------
 User/module/ball.cpp               |  6 +++---
 User/module/shoot.cpp              |  4 ++--
 6 files changed, 18 insertions(+), 27 deletions(-)

diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 9a72189..4a92f9b 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -142,3 +142,11 @@
 
 [info] Log at : 2025/7/11|17:39:11|GMT+0800
 
+[info] Log at : 2025/7/12|23:45:28|GMT+0800
+
+[info] Log at : 2025/7/13|11:08:55|GMT+0800
+
+[info] Log at : 2025/7/13|12:29:41|GMT+0800
+
+[info] Log at : 2025/7/13|16:33:17|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 4ae2bc7..a7bd955 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -2,7 +2,7 @@
 Build target 'R1'
 compiling shoot.cpp...
 linking...
-Program Size: Code=31388 RO-data=1832 RW-data=284 ZI-data=32260  
+Program Size: Code=31396 RO-data=1832 RW-data=276 ZI-data=32260  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:09
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index bfe56a6..b68a1b8 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/11 5:53:28
\ No newline at end of file
+2025/7/13 16:34:35
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index d903d28..e150a28 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -153,24 +153,7 @@
           <Name>-U00160029510000164E574E32 -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 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>89</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>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -180,7 +163,7 @@
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball</ItemText>
+          <ItemText>ball,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 5e56951..903d857 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -365,7 +365,7 @@ void Ball::Idle_control()
     {
         if(hand_thread & HANDING_FINISH)
         {
-            xiaomi.position=O_ANGLE;//继续保持外伸
+            xiaomi.position=HANGDING_POS;//继续保持外伸
 
         }
         else
@@ -419,8 +419,8 @@ void Ball::ballHadling(void)
     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
+            xiaomi.position = HANGDING_POS;                 // 外伸
+            if (feedback->position_deg >= HANGDING_POS - 0.5f) // 确保伸缩电机到位
             {
                 currentState1 = BALL_FORWARD;
             }
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 2194794..744dd0b 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -29,7 +29,7 @@ double test_distance=4.0;
 const fp32 Shoot::M2006_speed_PID[3] = {5, 0, 0.01};
 const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
 
-#define TO_TOP 10.0f
+#define TO_TOP 13.0f
 #define TO_BOTTOM 6.0f
 
 #define INIT_POS -135
@@ -544,7 +544,7 @@ void Shoot::shoot_control()
         control_pos = WAIT_POS; //-209
         go1.Pos = control_pos;
         limit_speed = TO_TOP;   // 快速上去
-        if(feedback.fd_gopos < WAIT_POS)
+        if(feedback.fd_gopos < WAIT_POS +2.0f)
         {
            t_posSet = Tigger_ZERO; // 扳机松开
            //osThreadFlagsSet(task_struct.thread.ball, DEF_READY);