From 74d7f2ef20c33d8551d614b1d0cea16e23df39d2 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Wed, 18 Jun 2025 15:09:35 +0800 Subject: [PATCH] =?UTF-8?q?=E9=81=A5=E6=8E=A7=E5=99=A8=E5=90=88=E4=BD=93?= =?UTF-8?q?=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 + MDK-ARM/.vscode/uv4.log | 6 +- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 12 +-- User/bsp/TopDefine.h | 8 +- User/device/nuc.c | 11 ++- User/module/ball.cpp | 154 +++++------------------------ User/module/ball.hpp | 26 ++--- User/module/shoot.cpp | 79 ++++++++++++--- User/module/shoot.hpp | 7 +- User/task/ballTask.cpp | 11 +-- 11 files changed, 128 insertions(+), 192 deletions(-) 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); + } }