拨杆+码盘

This commit is contained in:
ws 2025-06-30 23:36:01 +08:00
commit 94eadcfa16
4 changed files with 40 additions and 60 deletions

View File

@ -76,9 +76,13 @@
[info] Log at : 2025/6/26|03:33:46|GMT+0800
<<<<<<< HEAD
[info] Log at : 2025/6/27|10:05:14|GMT+0800
[info] Log at : 2025/6/27|23:24:18|GMT+0800
[info] Log at : 2025/6/28|01:53:31|GMT+0800
=======
[info] Log at : 2025/6/26|15:46:24|GMT+0800
>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

View File

@ -1,5 +1,6 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
<<<<<<< HEAD
compiling ballTask.cpp...
compiling ball.cpp...
linking...
@ -7,3 +8,11 @@ Program Size: Code=28860 RO-data=1832 RW-data=276 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:05
=======
compiling ball.cpp...
linking...
Program Size: Code=31096 RO-data=1832 RW-data=276 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:04
>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

View File

@ -1 +1,5 @@
<<<<<<< HEAD
2025/6/28 2:01:18
=======
2025/6/26 4:03:58
>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

View File

@ -77,17 +77,14 @@ void Ball::rc_mode()
extern_key=OUT;
}
// if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
// {
// rc_key = DOWN2;
// }
// else
// {
// rc_key = 0; // 其他情况不触发
// }
// last_sw5 = rc_ctrl.sw[5];
if(rc_ctrl.sw[5]==1800)
{
ready_key=SIDE;
}
if(rc_ctrl.sw[5]==200)
{
ready_key=0; //默认不准备
}
}
void Ball::Send_control()
@ -178,64 +175,30 @@ void Ball::ball_control()
Move_Extend();
switch (currentState1)
{
case BALL_IDLE:
switch (rc_key){
case MIDDLE2:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); //确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if (rc_key == DOWN2) // 检测按键是否被按下
if (currentState1 == BALL_FINISH)
{
currentState1 = BALL_FORWARD;
currentState1 = BALL_IDLE;
}
break;
case BALL_FORWARD:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
osDelay(5);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
currentState1 = BALL_DROP; // 切换到球下落状态
break;
case BALL_DROP:
osDelay(100); // 延时 100ms
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
// 一直检测有球ball_state == 0等球离开
if (ball_state == 1 && last_ball_state == 0) // 球离开
{
currentState1 = BALL_FLAG;
}
last_ball_state = ball_state;
break;
case BALL_FLAG:
osDelay(10); // 延时 50ms
// 等待球弹回再次检测到球
if (ball_state == 0 && last_ball_state == 1) // 球弹回
{
currentState1 = BALL_CLOSE;
}
last_ball_state = ball_state;
break;
case BALL_CLOSE:
osDelay(100);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到反转状态
break;
case BALL_FINISH:
osDelay(50); // 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
currentState1 = BALL_IDLE; // 回到空闲状态
break;
default:
else {
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
//test_Handling();
break;
}
Send_control();