diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index f8f7f68..3322765 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -32,3 +32,7 @@
[info] Log at : 2025/6/15|11:17:22|GMT+0800
+[info] Log at : 2025/6/16|19:01:05|GMT+0800
+
+[info] Log at : 2025/6/17|19:06:14|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index e74d27e..fe4818c 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,8 +1,10 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling shoot.cpp...
+compiling ballTask.cpp...
+compiling ball.cpp...
linking...
-Program Size: Code=30460 RO-data=1840 RW-data=268 ZI-data=33276
+Program Size: Code=30080 RO-data=1828 RW-data=268 ZI-data=32660
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:05
+Build Time Elapsed: 00:00:07
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index aee0bb4..ab2e63f 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/6/15 22:57:56
\ No newline at end of file
+2025/6/16 19:22:49
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 11f2aa9..630d47e 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -188,17 +188,17 @@
6
1
- knob_increment
+ task_struct,0x0A
7
1
- task_struct,0x0A
+ aaa,0x0A
8
1
- aaa,0x0A
+ wzcsb,0x0A
@@ -959,7 +959,7 @@
User/device
- 1
+ 0
0
0
0
@@ -1051,7 +1051,7 @@
User/module
- 1
+ 0
0
0
0
@@ -1095,7 +1095,7 @@
User/task
- 1
+ 0
0
0
0
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 2413b4c..0436014 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -18,10 +18,10 @@
#ifndef DT7
#define DT7 0
#endif
-//是否使用三摩擦
-#ifndef HANDLING3
-#define HANDLING3 1
-#endif
+// //是否使用三摩擦
+// #ifndef HANDLING3
+// #define HANDLING3 1
+// #endif
//云台使用类型
#ifndef GM6020ING
#define GM6020ING 1
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 4ef84b7..80ec55f 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -68,7 +68,7 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
return DEVICE_OK; // 发送成功
}
-
+int wzcsb=0;
int8_t NUC_RawParse(NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {
@@ -101,10 +101,10 @@ int8_t NUC_RawParse(NUC_t *n) {
instance.data[0] = nucbuf[3];
n->vision.x = instance.x[0];
- instance.data[7] = nucbuf[7];
- instance.data[6] = nucbuf[8];
- instance.data[5] = nucbuf[9];
- instance.data[4] = nucbuf[10];
+ instance.data[7] = nucbuf[10];
+ instance.data[6] = nucbuf[9];
+ instance.data[5] = nucbuf[8];
+ instance.data[4] = nucbuf[7];
n->vision.y = instance.x[1];
instance.data[11] = nucbuf[11];
@@ -119,6 +119,7 @@ int8_t NUC_RawParse(NUC_t *n) {
error:
+ wzcsb++;
return DEVICE_ERR;
}
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 871d3de..46c1f7f 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -8,10 +8,6 @@
extern RC_ctrl_t rc_ctrl;
extern int key;
-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
@@ -20,20 +16,10 @@ extern int16_t M2006_result;
#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] = {30, 0.03, 0};
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
-int speedm=0;
//PE11 气缸
@@ -41,19 +27,6 @@ Ball ::Ball()
{
detect_init();
- //三摩擦轮
- for(int i = 0;i < MOTOR_NUM;i ++)
- {
- hand_Motor[i] = get_motor_point(i);
- if(i <=3)
- {
- hand_Motor[i]->type = M3508;//设置电机类型
- PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 10000);//pid初始化
- }
- result[i] = 0;
- speedSet[i] = 0;
- }
-
//两个伸缩6020 左207 右208
Extern_Motor[0] = get_motor_point(6);
Extern_Motor[1] = get_motor_point(7);
@@ -97,32 +70,6 @@ void Ball ::Extend_mcontrol(int angle1,int angle2)
}
-void Ball ::Spin()
-{
-
- 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_set;
- result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);
-
- speedSet[MOTOR_3] = speed_set;
- result[MOTOR_3] = PID_calc(&speed_pid[MOTOR_3],hand_Motor[MOTOR_3]->speed_rpm,speedSet[MOTOR_3]);
-
-}
-
-void Ball::ballDown(void)
-{
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
- speed_set=500;
-
- if(ball_state==0)
- {
- osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
- }
-}
-
-
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 1800 中 1000 👇200
@@ -170,16 +117,24 @@ void Ball::Move_Extend(void)
}
}
+void Ball::ballDown(void)
+{
+
+ HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+
+}
+
void Ball::ball_control()
{
- ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 有球 1 无球 0
+ ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
Move_Extend();
switch (rc_key){
case MIDDLE2:
- speed_set=0;
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸
+ HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); //确保爪气缸关闭
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if (currentState1 == BALL_FINISH)
{
currentState1 = BALL_IDLE;
@@ -190,7 +145,7 @@ void Ball::ball_control()
break;
case UP2:
- Three_Handing();
+ ballHadling();
break;
case DOWN2:
@@ -200,99 +155,37 @@ void Ball::ball_control()
}
- 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:
- 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
- speed_set = M_BACK;
- currentState1 = BALL_REVERSE; // 切换到反转状态
- }
- break;
- case BALL_REVERSE:
- if (ball_state == 1)
- {
- speed_set = 0;
- currentState1 = BALL_CLOSE; // 切换到完成状态
- }
- break;
- case BALL_CLOSE:
- 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
-
- }
- case BALL_FINISH:
- key = 0; // 重置按键状态
- speed_set = 0;
-
- //currentState1 = BALL_IDLE; // 直接回到空闲状态
- break;
- default:
- currentState1 = BALL_IDLE; // 默认回到空闲状态
- break;
-
- }
-}
void Ball::Send_control()
{
- CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
- osDelay(1);
-
- CAN_cmd_1FF(M2006_result,0,e_result[0],e_result[1],&hcan1);
+
+ CAN_cmd_1FF(0,0,e_result[0],e_result[1],&hcan1);
osDelay(1);
}
-#else
int ball_state = 0;
int triggerCount = 0; // 光电传感器触发计数
int last_ball_state = 1; // 上一次的光电状态
+//(有球 0,无球 1)
void Ball::ballHadling(void)
{
- ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态（有球 0，无球 1）
-
switch (currentState1)
{
case BALL_IDLE:
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合
- if (key > 0) // 检测按键是否被按下
+ HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); //确保爪气缸关闭
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+ if (key > 0 ||rc_key == UP2) // 检测按键是否被按下
{
key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数
- currentState1 = BALL_FORWARD; // 切换到正转状态
+ currentState1 = BALL_FORWARD;
}
break;
@@ -333,17 +226,19 @@ void Ball::ballHadling(void)
{
osDelay(100); // 延时去抖
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
- currentState1 = BALL_REVERSE; // 切换到反转状态
+ currentState1 = BALL_FINISH; // 切换到反转状态
}
break;
- case BALL_REVERSE:
+ case BALL_FINISH:
osDelay(50); // 延时 50ms
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数
- currentState1 = BALL_IDLE; // 回到空闲状态
+
+ //currentState1 = BALL_IDLE; // 回到空闲状态
+
break;
default:
@@ -351,5 +246,4 @@ void Ball::ballHadling(void)
break;
}
}
- #endif
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index 4c10aa3..3820564 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -14,9 +14,9 @@
// 定义状态枚举
typedef enum {
BALL_IDLE, // 空闲状态
- BALL_FORWARD, // 正转状态
- BALL_DROP, // 球下落状态
- BALL_REVERSE, // 反转状态
+ BALL_FORWARD, //
+ BALL_DROP, //
+ BALL_REVERSE, //
BALL_FLAG,
BALL_CLOSE, // 关闭状态
BALL_FINISH, // 完成状态
@@ -52,28 +52,23 @@ class Ball
{
public:
Ball();
- void Spin(void);
void ballHadling(void);
void ballDown(void);
void Send_control(void);
- void ballStop(void);
void Move_Extend(void);
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
+ int flag;//暂时还没用到
int ball_state ;//光电检测
//伸缩6020
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;
@@ -83,23 +78,14 @@ public:
private:
- //三个摩擦轮
- static const float M3508_speed_PID[3];
- static const float M3508_angle_PID[3];
-
static const float Extend_speed_PID[3];
static const float Extend_angle_PID[3];
- //电机速度pid结构体
- pid_type_def speed_pid[MOTOR_NUM];
- //位置环pid
- pid_type_def angle_pid[MOTOR_NUM];
-
pid_type_def extend_speed_pid[2];
pid_type_def extend_angle_pid[2];
float angleSet[2];
- float speedSet[MOTOR_NUM];
+
};
#endif
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index ff5a3d5..ff5f0c9 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -26,18 +26,17 @@ const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0, 0.1};
#define INIT_POS -130
#define TOP_POS -210
#define GO_ERROR 1.0f
-#define Tigger_DO -5
+#define Tigger_DO -10
#define Tigger_ZERO 100
#define Tigger_ERROR 3
-//💩
-int16_t M2006_result =0;
+
float knob_increment;
Shoot::Shoot()
{
//扳机初始化
- trigger_Motor= get_motor_point(4);//id 205
+ trigger_Motor= get_motor_point(0);//id 201
trigger_Motor->type=M2006;
PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,3000, 2000);//pid初始化
PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,3000, 2000);//pid初始化
@@ -69,16 +68,16 @@ void Shoot::trigger_control()
int delta = 0;
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
- M2006_result=result;
- // result = PID_calc(&speed_pid,trigger_Motor->speed_rpm,t_speedSet);
- // CAN_cmd_1FF(result,0,0,0,&hcan1);
+
+
+ CAN_cmd_200(result,0,0,0,&hcan1);
}
void Shoot :: distanceGet(const NUC_t &nuc_v)
{
- //test_distance=nuc_v.vision.x; // 获取自瞄数据
+ distance=nuc_v.vision.x; // 获取自瞄数据
}
@@ -115,8 +114,8 @@ int Shoot::GO_SendData(float pos,float limit)
return 0;
}
-
-// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
+// F键 sw[0]👆 1800 👇200
+// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]200 sw[2]👇1800
// G键 sw[6]👆 1800 中 1000 👇200
//左旋 sw[7] 200 --1800
void Shoot::rc_mode()
@@ -125,14 +124,22 @@ void Shoot::rc_mode()
{
rc_key=UP1;
}
- if(rc_ctrl.sw[1]==1000)
+ if(rc_ctrl.sw[1]==1800 && rc_ctrl.sw[2]==200)
{
rc_key=MIDDLE1;
}
- if(rc_ctrl.sw[2]==1800)
+ if(rc_ctrl.sw[2]==1800 && rc_ctrl.sw[1]==1800)
{
rc_key=DOWN1;
}
+ if(rc_ctrl.sw[0]==1800)
+ {
+ mode_key=TEST;
+ }
+ if(rc_ctrl.sw[0]==200)
+ {
+ mode_key=VSION;
+ }
// if(rc_ctrl.sw[7]==200)
// {
@@ -164,7 +171,44 @@ void Shoot::shoot_control() {
//方便调试
feedback.fd_gopos = go1_data->Pos;
feedback.fd_tpos = trigger_Motor->total_angle;
-
+ switch (mode_key)
+ {
+ case VSION:
+ switch (rc_key) {
+ case DOWN1:
+
+ control_pos = INIT_POS; // 默认中间挡位位置
+ //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
+ fire_pos = distance; // 视觉拟合的力
+ go1.Pos = fire_pos; // 设置蓄力电机位置
+ t_posSet = Tigger_ZERO; // 扳机松开
+
+ if (currentState == SHOOT_READY) {
+ // 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
+ BSP_Buzzer_Stop();
+ if (t_posSet >= 95) { // 假设120度为发射完成角度
+ currentState = SHOOT_IDLE; // 切换到空闲状态
+ is_hooked = false; // 重置钩子状态
+ }
+ } else {
+ currentState = SHOOT_IDLE; // 默认回到空闲状态
+ }
+ break;
+
+ case MIDDLE1:
+ shoot_Current();
+ break;
+
+ case UP1:
+ RemoveError();
+ break;
+
+ default:
+ break;
+ }
+break;
+ case TEST:
switch (rc_key) {
case DOWN1:
@@ -198,6 +242,13 @@ void Shoot::shoot_control() {
default:
break;
}
+
+break;
+
+ default:
+ break;
+ }
+
// 发送数据到蓄力电机
GO_SendData(go1.Pos, 5.0f);
@@ -222,7 +273,7 @@ void Shoot :: shoot_Current()
case SHOOT_TOP:
t_posSet = Tigger_DO; // 扳机扣动钩住
- if (trigger_Motor->total_angle<-2)
+ if (trigger_Motor->total_angle<-6)
{
//判定为钩住
is_hooked = true; // 标记钩子已钩住
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 3ec82f4..89563fe 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -33,7 +33,9 @@ typedef enum
MIDDLE1,
DOWN1,
SHOOT,
- WAIT
+ WAIT,
+ TEST,
+ VSION
}rc_mode;
// 光电传感器读取宏
@@ -77,11 +79,12 @@ public:
//==========================公共变量==========================
int16_t rc_key; //遥控器按键
+ int16_t mode_key;
int16_t trigger_key;
ShootState_t currentState; //状态机
//volatile BallState_t ballStatus;//是否有球
volatile uint32_t flag_thread;//接收传回的线程通知
- float distance; //视觉距离
+ fp32 distance; //视觉距离
private:
//扳机2006
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index a60d706..a66feb4 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -34,13 +34,8 @@ void FunctionBall(void *argument)
ball.ball_control(); // 控制球的动作
- // 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
- // vofa[2] = -ball.hand_Motor[1]->speed_rpm; // 发送电机速度数据
- // vofa[3] = -ball.hand_Motor[2]->speed_rpm; // 发送电机速度数据
- // vofa_tx_main(vofa); // 发送数据到虚拟串口
-
- tick += delay_tick; /* 计算下一个唤醒时刻 */
- osDelayUntil(tick);
+ tick += delay_tick; /* 计算下一个唤醒时刻 */
+ osDelayUntil(tick);
+
}
}