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回弹按键运两次球

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ws 2025-06-26 15:49:00 +08:00
parent e420cea621
commit 7b54a46bd3
8 changed files with 126 additions and 73 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -74,3 +74,7 @@
[info] Log at : 2025/6/25|19:23:57|GMT+0800
[info] Log at : 2025/6/26|03:33:46|GMT+0800
[info] Log at : 2025/6/26|15:46:24|GMT+0800

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,10 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling shootTask.cpp...
compiling shoot.cpp...
compiling ball.cpp...
linking...
Program Size: Code=31644 RO-data=1832 RW-data=268 ZI-data=32252
Program Size: Code=31096 RO-data=1832 RW-data=276 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:06
Build Time Elapsed: 00:00:04

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/26 3:22:31
2025/6/26 4:03:58

2
User/bsp/TopDefine.h
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@ -16,7 +16,7 @@
#endif
#define ONE_CONTROL 1
#define ONE_CONTROL 0

60
User/bsp/gpio_it.c
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@ -32,41 +32,41 @@ int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
return BSP_OK;
}
int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
switch (pin) {
// int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
// switch (pin) {
// case USER_KEY_Pin:
// HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
// break;
// case USER_KEY_Pin:
// HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
// break;
/*
case XXX_Pin:
HAL_NVIC_EnableIRQ(XXX_IRQn);
break;
*/
// /*
// case XXX_Pin:
// HAL_NVIC_EnableIRQ(XXX_IRQn);
// break;
// */
default:
return BSP_ERR;
}
return BSP_OK;
}
// default:
// return BSP_ERR;
// }
// return BSP_OK;
// }
int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
switch (pin) {
// int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
// switch (pin) {
// case USER_KEY_Pin:
// HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
// break;
// // case USER_KEY_Pin:
// // HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
// // break;
/*
case XXX_Pin:
HAL_NVIC_EnableIRQ(XXX_IRQn);
break;
*/
// /*
// case XXX_Pin:
// HAL_NVIC_EnableIRQ(XXX_IRQn);
// break;
// */
default:
return BSP_ERR;
}
return BSP_OK;
}
// default:
// return BSP_ERR;
// }
// return BSP_OK;
// }

14
User/device/detect.c
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@ -27,12 +27,12 @@ void detect_init(void)
BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball);
// 启用按键中断
if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
// 错误处理
}
if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) {
// 错误处理
}
// // 启用按键中断
// if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
// // 错误处理
// }
// if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) {
// // 错误处理
// }
}

109
User/module/ball.cpp
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@ -49,6 +49,9 @@ Ball ::Ball()
// G键 sw[6]👆 200 中 1000 👇1800
// sw[5] 👆 200 👇1800
//左旋 sw[7] 200 --1800
int last_sw5 = 1800; // 上一次拨杆状态
void Ball::rc_mode()
{
if(rc_ctrl.sw[6]==200)
@ -73,14 +76,17 @@ void Ball::rc_mode()
extern_key=OUT;
}
if(rc_ctrl.sw[5]==1800)
if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
{
ready_key=SIDE;
rc_key = DOWN2;
}
if(rc_ctrl.sw[5]==200)
else
{
ready_key=0; //默认不准备
rc_key = 0; // 其他情况不触发
}
last_sw5 = rc_ctrl.sw[5];
}
void Ball::Send_control()
@ -119,30 +125,8 @@ void Ball::ball_control()
Move_Extend();
switch (rc_key){
case MIDDLE2:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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;
}
else {
currentState1 = BALL_IDLE; // 默认回到空闲状态
}
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
//test_Handling();
break;
}
ballHadling_two(); // 执行运球处理
Send_control();
@ -162,8 +146,6 @@ void Ball::ballHadling(void)
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if (rc_key == DOWN2) // 检测按键是否被按下
{
currentState1 = BALL_FORWARD;
}
break;
@ -220,6 +202,75 @@ void Ball::ballHadling(void)
}
int runCount = 0; // 运球次数计数
void Ball::ballHadling_two(void)
{
switch (currentState1)
{
case BALL_IDLE:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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 (rc_key == DOWN2)
{
runCount = 0; // 每次拨动重新计数
currentState1 = BALL_FORWARD;
}
break;
case BALL_FORWARD:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
osDelay(5);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
currentState1 = BALL_DROP;
break;
case BALL_DROP:
osDelay(100);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
if (ball_state == 1 && last_ball_state == 0) // 球离开
{
currentState1 = BALL_FLAG;
}
last_ball_state = ball_state;
break;
case BALL_FLAG:
osDelay(10);
if (ball_state == 0 && last_ball_state == 1) // 球弹回
{
currentState1 = BALL_CLOSE;
}
last_ball_state = ball_state;
break;
case BALL_CLOSE:
osDelay(25);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH;
break;
case BALL_FINISH:
osDelay(50);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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
runCount++;
if (runCount < 2)
{
currentState1 = BALL_FORWARD; // 继续下一次运球
}
else
{
currentState1 = BALL_IDLE; // 完成两次，回到空闲
}
break;
default:
currentState1 = BALL_IDLE;
break;
}
}
#endif

2
User/module/ball.hpp
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@ -55,7 +55,7 @@ public:
void Move_Extend(void);
void Idle_control(void);
void rc_mode(void);
void test_Handling(void);
void ballHadling_two(void);
void ball_control(void);
BallState_t currentState1; // 运球任务状态机