回弹按键运两次球

MDK-ARM/.vscode/keil-assistant.log

@@ -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
+

MDK-ARM/.vscode/uv4.log

@@ -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

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

@@ -1 +1 @@
-2025/6/26 3:22:31
+2025/6/26 4:03:58

User/bsp/TopDefine.h

@@ -16,7 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
 
 
 

User/bsp/gpio_it.c

@@ -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) {
+// int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
-  switch (pin) {
+//   switch (pin) {
 
 //     case USER_KEY_Pin:
 //       HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
 //       break;
 
-      /*
+//       /*
-      case XXX_Pin:
+//       case XXX_Pin:
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
-              break;
-      */
-
-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
-  switch (pin) {
-
-    // case USER_KEY_Pin:
-    //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
 //               break;
+//       */
 
-      /*
+//     default:
-      case XXX_Pin:
+//       return BSP_ERR;
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
+//   }
-              break;
+//   return BSP_OK;
-      */
+// }
 
-    default:
+// int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
-      return BSP_ERR;
+//   switch (pin) {
-  }
+
-  return BSP_OK;
+//     // case USER_KEY_Pin:
-}
+//     //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
+//     //   break;
+
+//       /*
+//       case XXX_Pin:
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               break;
+//       */
+
+//     default:
+//       return BSP_ERR;
+//   }
+//   return BSP_OK;
+// }
 

User/device/detect.c

@@ -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
+    // // 启用按键中断
-    if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
+    // if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
-        // 错误处理
+    //     // 错误处理
-    }  
+    // }  
-    if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) {
+    // if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) {
-        // 错误处理
+    //     // 错误处理
-    }  
+    // }  
     
 }

User/module/ball.cpp

@@ -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: 
+    ballHadling_two(); // 执行运球处理
-        ballDown();
-        break;
-
-        case DOWN2: 
-        ballHadling();
-        //test_Handling();
-
-        break;
-
-    }
 
     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

User/module/ball.hpp

@@ -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