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遥控器合体了

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This commit is contained in:
ws 2025-06-18 15:09:35 +08:00
parent 30de35d147
commit 74d7f2ef20
11 changed files with 128 additions and 192 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -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

6
MDK-ARM/.vscode/uv4.log vendored
View File

@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/15 22:57:56
2025/6/16 19:22:49

12
MDK-ARM/R1.uvoptx
View File

@ -188,17 +188,17 @@
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>knob_increment</ItemText>
<ItemText>task_struct,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>task_struct,0x0A</ItemText>
<ItemText>aaa,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>aaa,0x0A</ItemText>
<ItemText>wzcsb,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -959,7 +959,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1051,7 +1051,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1095,7 +1095,7 @@
<Group>
<GroupName>User/task</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

8
User/bsp/TopDefine.h
View File

@ -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

11
User/device/nuc.c
View File

@ -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;
}

152
User/module/ball.cpp
View File

@ -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

24
User/module/ball.hpp
View File

@ -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
@ -52,15 +52,12 @@ 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
@ -71,9 +68,7 @@ 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;
@ -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

77
User/module/shoot.cpp
View File

@ -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:
@ -199,6 +243,13 @@ void Shoot::shoot_control() {
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

7
User/module/shoot.hpp
View File

@ -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

7
User/task/ballTask.cpp
View File

@ -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);
}
}