From 8ea27c86201aa9f699b59f1249f0ed84fed800a8 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Fri, 4 Jul 2025 16:04:06 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=80=E6=AC=A1=E8=BF=90=E7=90=83=E5=AE=8C?=
 =?UTF-8?q?=E8=87=AA=E5=8A=A8=E6=94=BE=E7=90=83?=
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---
 User/module/ball.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index b004a4d..8d98ee1 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -236,6 +236,10 @@ void Ball::ball_control()
 
         case DOWN2:
             ballHadling();
+            if(hand_thread & HANDING_FINISH)
+            {
+              ballDown();  
+            }
             break;
         }
 
@@ -259,7 +263,7 @@ void Ball::ballDown(void)
 {
     switch (currentState1)
     {
-    case BALL_IDLE:
+    case BALL_FINISH:
         xiaomi.position = I_ANGLE; // 保持收回
         if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
         {
@@ -306,6 +310,7 @@ void Ball::Idle_control()
     HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
 
     osThreadFlagsClear(EXTEND_OK);
+    osThreadFlagsClear(HANDING_FINISH); 
 
     if (ready_key == SIDE) // 检测是否准备好
     {
@@ -399,11 +404,11 @@ void Ball::ballHadling(void)
 
     case BALL_FINISH:
         osDelay(50); // 延时 50ms
-        // osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
+         osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
         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
-        break;
 
+        break;
     default:
         currentState1 = BALL_IDLE; // 默认回到空闲状态
         break;