待拟合
This commit is contained in:
parent
13bb73b72f
commit
7ce1231e9a
4
MDK-ARM/.vscode/keil-assistant.log
vendored
4
MDK-ARM/.vscode/keil-assistant.log
vendored
@ -102,3 +102,7 @@
|
|||||||
|
|
||||||
[info] Log at : 2025/7/4|09:10:46|GMT+0800
|
[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
15
MDK-ARM/.vscode/uv4.log
vendored
@ -1,13 +1,18 @@
|
|||||||
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
|
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
|
||||||
Build target 'R1'
|
Build target 'R1'
|
||||||
compiling shootTask.cpp...
|
compiling userTask.c...
|
||||||
compiling nuc.c...
|
compiling remote_control.c...
|
||||||
compiling initTask.c...
|
compiling initTask.c...
|
||||||
compiling ball.cpp...
|
compiling main.c...
|
||||||
|
compiling djiMotor.c...
|
||||||
compiling nucTask.cpp...
|
compiling nucTask.cpp...
|
||||||
compiling shoot.cpp...
|
compiling shoot.cpp...
|
||||||
|
compiling encodeCan.cpp...
|
||||||
|
compiling ball.cpp...
|
||||||
|
compiling shootTask.cpp...
|
||||||
|
compiling ballTask.cpp...
|
||||||
linking...
|
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...
|
FromELF: creating hex file...
|
||||||
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
|
"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
2
MDK-ARM/.vscode/uv4.log.lock
vendored
@ -1 +1 @@
|
|||||||
2025/7/4 9:21:52
|
2025/7/6 22:22:20
|
@ -173,22 +173,32 @@
|
|||||||
<Ww>
|
<Ww>
|
||||||
<count>3</count>
|
<count>3</count>
|
||||||
<WinNumber>1</WinNumber>
|
<WinNumber>1</WinNumber>
|
||||||
<ItemText>nucbuf</ItemText>
|
<ItemText>ball_exit,0x0A</ItemText>
|
||||||
</Ww>
|
</Ww>
|
||||||
<Ww>
|
<Ww>
|
||||||
<count>4</count>
|
<count>4</count>
|
||||||
<WinNumber>1</WinNumber>
|
<WinNumber>1</WinNumber>
|
||||||
<ItemText>cmd_fromnuc</ItemText>
|
<ItemText>nucbuf</ItemText>
|
||||||
</Ww>
|
</Ww>
|
||||||
<Ww>
|
<Ww>
|
||||||
<count>5</count>
|
<count>5</count>
|
||||||
<WinNumber>1</WinNumber>
|
<WinNumber>1</WinNumber>
|
||||||
<ItemText>drop_message,0x0A</ItemText>
|
<ItemText>nuc_v</ItemText>
|
||||||
</Ww>
|
</Ww>
|
||||||
<Ww>
|
<Ww>
|
||||||
<count>6</count>
|
<count>6</count>
|
||||||
<WinNumber>1</WinNumber>
|
<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>
|
</Ww>
|
||||||
</WatchWindow1>
|
</WatchWindow1>
|
||||||
<MemoryWindow4>
|
<MemoryWindow4>
|
||||||
|
@ -11,13 +11,11 @@ extern int ball_exit;
|
|||||||
|
|
||||||
// 伸缩
|
// 伸缩
|
||||||
//外死点168 外163 中150 内127 限位124.8
|
//外死点168 外163 中150 内127 限位124.8
|
||||||
#define I_ANGLE 127
|
#define I_ANGLE 124.8
|
||||||
#define O_ANGLE 163
|
#define O_ANGLE 168
|
||||||
#define WAIT_POS 150
|
#define WAIT_POS 150
|
||||||
#define IN 124.8
|
|
||||||
#define OUT 168
|
|
||||||
|
|
||||||
// PE11 气缸
|
// PE11 气缸git stash apply
|
||||||
|
|
||||||
Ball ::Ball()
|
Ball ::Ball()
|
||||||
{
|
{
|
||||||
|
@ -84,7 +84,7 @@ void Shoot::trigger_control()
|
|||||||
|
|
||||||
float shoot_fitting(float x)
|
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)
|
float pass_fitting(float x)
|
||||||
@ -405,6 +405,8 @@ void Shoot::shoot_control()
|
|||||||
{
|
{
|
||||||
case VSION:
|
case VSION:
|
||||||
fire_pos = shoot_fitting(distance); // 视觉拟合的力
|
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)
|
switch (rc_key)
|
||||||
{
|
{
|
||||||
case MIDDLE1:
|
case MIDDLE1:
|
||||||
|
Loading…
Reference in New Issue
Block a user