拨杆+码盘
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commit
94eadcfa16
4
MDK-ARM/.vscode/keil-assistant.log
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4
MDK-ARM/.vscode/keil-assistant.log
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@ -76,9 +76,13 @@
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[info] Log at : 2025/6/26|03:33:46|GMT+0800
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<<<<<<< HEAD
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[info] Log at : 2025/6/27|10:05:14|GMT+0800
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[info] Log at : 2025/6/27|23:24:18|GMT+0800
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[info] Log at : 2025/6/28|01:53:31|GMT+0800
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=======
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[info] Log at : 2025/6/26|15:46:24|GMT+0800
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>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
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9
MDK-ARM/.vscode/uv4.log
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9
MDK-ARM/.vscode/uv4.log
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@ -1,5 +1,6 @@
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
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Build target 'R1'
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<<<<<<< HEAD
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compiling ballTask.cpp...
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compiling ball.cpp...
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linking...
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@ -7,3 +8,11 @@ Program Size: Code=28860 RO-data=1832 RW-data=276 ZI-data=32252
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FromELF: creating hex file...
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"R1\R1.axf" - 0 Error(s), 0 Warning(s).
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Build Time Elapsed: 00:00:05
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=======
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compiling ball.cpp...
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linking...
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Program Size: Code=31096 RO-data=1832 RW-data=276 ZI-data=32252
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FromELF: creating hex file...
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"R1\R1.axf" - 0 Error(s), 0 Warning(s).
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Build Time Elapsed: 00:00:04
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>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
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4
MDK-ARM/.vscode/uv4.log.lock
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4
MDK-ARM/.vscode/uv4.log.lock
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@ -1 +1,5 @@
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<<<<<<< HEAD
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2025/6/28 2:01:18
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=======
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2025/6/26 4:03:58
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>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
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@ -77,17 +77,14 @@ void Ball::rc_mode()
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extern_key=OUT;
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}
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// if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
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// {
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// rc_key = DOWN2;
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// }
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// else
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// {
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// rc_key = 0; // 其他情况不触发
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// }
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// last_sw5 = rc_ctrl.sw[5];
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if(rc_ctrl.sw[5]==1800)
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{
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ready_key=SIDE;
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}
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if(rc_ctrl.sw[5]==200)
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{
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ready_key=0; //默认不准备
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}
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}
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void Ball::Send_control()
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@ -178,64 +175,30 @@ void Ball::ball_control()
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Move_Extend();
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switch (currentState1)
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{
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case BALL_IDLE:
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switch (rc_key){
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case MIDDLE2:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); //确保爪气缸关闭
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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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if (rc_key == DOWN2) // 检测按键是否被按下
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if (currentState1 == BALL_FINISH)
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{
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currentState1 = BALL_FORWARD;
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currentState1 = BALL_IDLE;
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}
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break;
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case BALL_FORWARD:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
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osDelay(5);
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
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currentState1 = BALL_DROP; // 切换到球下落状态
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break;
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case BALL_DROP:
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osDelay(100); // 延时 100ms
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
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// 一直检测有球(ball_state == 0),等球离开
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if (ball_state == 1 && last_ball_state == 0) // 球离开
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{
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currentState1 = BALL_FLAG;
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}
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last_ball_state = ball_state;
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break;
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case BALL_FLAG:
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osDelay(10); // 延时 50ms
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// 等待球弹回再次检测到球
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if (ball_state == 0 && last_ball_state == 1) // 球弹回
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{
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currentState1 = BALL_CLOSE;
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}
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last_ball_state = ball_state;
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break;
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case BALL_CLOSE:
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osDelay(100);
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
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currentState1 = BALL_FINISH; // 切换到反转状态
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break;
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case BALL_FINISH:
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osDelay(50); // 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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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currentState1 = BALL_IDLE; // 回到空闲状态
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break;
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default:
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else {
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currentState1 = BALL_IDLE; // 默认回到空闲状态
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break;
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}
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break;
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case UP2:
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ballDown();
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break;
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case DOWN2:
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ballHadling();
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//test_Handling();
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break;
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}
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Send_control();
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