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待拟合

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ws 2025-07-06 23:10:05 +08:00
parent 13bb73b72f
commit 7ce1231e9a
6 changed files with 35 additions and 16 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -102,3 +102,7 @@
[info] Log at : 2025/7/4|09:10:46|GMT+0800
[info] Log at : 2025/7/6|22:01:26|GMT+0800
[info] Log at : 2025/7/6|22:02:13|GMT+0800

15
MDK-ARM/.vscode/uv4.log vendored
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@ -1,13 +1,18 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling shootTask.cpp...
compiling nuc.c...
compiling userTask.c...
compiling remote_control.c...
compiling initTask.c...
compiling ball.cpp...
compiling main.c...
compiling djiMotor.c...
compiling nucTask.cpp...
compiling shoot.cpp...
compiling encodeCan.cpp...
compiling ball.cpp...
compiling shootTask.cpp...
compiling ballTask.cpp...
linking...
Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220
Program Size: Code=31240 RO-data=1832 RW-data=268 ZI-data=32220
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:02:09
Build Time Elapsed: 00:00:09

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/4 9:21:52
2025/7/6 22:22:20

18
MDK-ARM/R1.uvoptx
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@ -173,22 +173,32 @@
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
<ItemText>ball_exit,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>drop_message,0x0A</ItemText>
<ItemText>nuc_v</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>error_code,0x0A</ItemText>
<ItemText>test_exit,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ttttt1,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>ball_exit,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>

8
User/module/ball.cpp
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@ -11,13 +11,11 @@ extern int ball_exit;
// 伸缩
//外死点168 外163 中150 内127 限位124.8
#define I_ANGLE 127
#define O_ANGLE 163
#define I_ANGLE 124.8
#define O_ANGLE 168
#define WAIT_POS 150
#define IN 124.8
#define OUT 168
// PE11 气缸
// PE11 气缸git stash apply
Ball ::Ball()
{

4
User/module/shoot.cpp
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@ -84,7 +84,7 @@ void Shoot::trigger_control()
float shoot_fitting(float x)
{
return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f;
return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f;
}
float pass_fitting(float x)
@ -405,6 +405,8 @@ void Shoot::shoot_control()
{
case VSION:
fire_pos = shoot_fitting(distance); // 视觉拟合的力
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
{
case MIDDLE1: