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一次运球完自动放球

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ws 2025-07-04 16:04:06 +08:00
parent bf3d376b60
commit 8ea27c8620
1 changed files with 8 additions and 3 deletions
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11
User/module/ball.cpp
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@ -236,6 +236,10 @@ void Ball::ball_control()
case DOWN2: case DOWN2:
ballHadling(); ballHadling();
if(hand_thread & HANDING_FINISH)
{
ballDown();
}
break; break;
} }
@ -259,7 +263,7 @@ void Ball::ballDown(void)
{ {
switch (currentState1) switch (currentState1)
{ {
case BALL_IDLE: case BALL_FINISH:
xiaomi.position = I_ANGLE; // 保持收回 xiaomi.position = I_ANGLE; // 保持收回
if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8) 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 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
osThreadFlagsClear(EXTEND_OK); osThreadFlagsClear(EXTEND_OK);
osThreadFlagsClear(HANDING_FINISH);
if (ready_key == SIDE) // 检测是否准备好 if (ready_key == SIDE) // 检测是否准备好
{ {
@ -399,11 +404,11 @@ void Ball::ballHadling(void)
case BALL_FINISH: case BALL_FINISH:
osDelay(50); // 延时 50ms 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(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 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
break;
break;
default: default:
currentState1 = BALL_IDLE; // 默认回到空闲状态 currentState1 = BALL_IDLE; // 默认回到空闲状态
break; break;