单拨两次运球但会出小失误
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MDK-ARM/.vscode/keil-assistant.log
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MDK-ARM/.vscode/keil-assistant.log
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@ -94,3 +94,5 @@
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[info] Log at : 2025/7/1|00:00:07|GMT+0800
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[info] Log at : 2025/7/1|00:00:07|GMT+0800
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[info] Log at : 2025/7/1|14:59:17|GMT+0800
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@ -1059,7 +1059,7 @@
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<Group>
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<Group>
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<GroupName>User/module</GroupName>
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<GroupName>User/module</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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<RteFlg>0</RteFlg>
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@ -1091,7 +1091,7 @@
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<Group>
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<Group>
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<GroupName>User/task</GroupName>
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<GroupName>User/task</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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<RteFlg>0</RteFlg>
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@ -226,13 +226,15 @@ void Ball::Move_Extend()
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break;
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break;
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case BALL_FINISH:
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case BALL_FINISH:
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osDelay(50); // 延时 50ms
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osDelay(200); // 延时 50ms
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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runCount++;
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runCount++;
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osDelay(200); // 延时 50ms
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if (runCount < 2)
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if (runCount < 2)
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{
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{
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currentState1 = BALL_FORWARD; // 继续下一次运球
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currentState1 = BALL_FORWARD; // 继续下一次运球
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osDelay(50);
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}
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}
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else
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else
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{
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{
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