单拨两次运球但会出小失误

This commit is contained in:
ws 2025-07-01 15:00:28 +08:00
parent 4de285abfb
commit 7e2fb5370a
3 changed files with 7 additions and 3 deletions

View File

@ -94,3 +94,5 @@
[info] Log at : 2025/7/1|00:00:07|GMT+0800
[info] Log at : 2025/7/1|14:59:17|GMT+0800

View File

@ -1059,7 +1059,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1091,7 +1091,7 @@
<Group>
<GroupName>User/task</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

View File

@ -226,13 +226,15 @@ void Ball::Move_Extend()
break;
case BALL_FINISH:
osDelay(50); // 延时 50ms
osDelay(200); // 延时 50ms
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++;
osDelay(200); // 延时 50ms
if (runCount < 2)
{
currentState1 = BALL_FORWARD; // 继续下一次运球
osDelay(50);
}
else
{