老卷簧没拟合

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
+

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

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

@@ -1 +1 @@
-2025/7/11 5:53:28
+2025/7/13 16:34:35

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>

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;
             }

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);