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微调伸缩位置

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This commit is contained in:
ws 2025-07-02 19:50:35 +08:00
parent 7e2fb5370a
commit 9bfe4580f8
5 changed files with 221 additions and 272 deletions
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36
MDK-ARM/.vscode/c_cpp_properties.json vendored
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@ -3,26 +3,26 @@
{
"name": "R1",
"includePath": [
"d:\\Desktop\\yunqiu\\R1_up\\Core\\Inc",
"d:\\Desktop\\yunqiu\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\yunqiu\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\yunqiu\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\yunqiu\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\yunqiu\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\yunqiu\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\yunqiu\\R1_up\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\yunqiu\\R1_up\\User\\bsp",
"d:\\Desktop\\yunqiu\\R1_up\\User\\module",
"d:\\Desktop\\yunqiu\\R1_up\\User\\task",
"d:\\Desktop\\yunqiu\\R1_up\\User\\lib",
"d:\\Desktop\\yunqiu\\R1_up\\User\\device",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Inc",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\bsp",
"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\module",
"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\task",
"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\lib",
"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\device",
"D:\\keil\\ARM\\ARMCC\\include",
"D:\\keil\\ARM\\ARMCC\\include\\rw",
"d:\\Desktop\\yunqiu\\R1_up\\MDK-ARM",
"d:\\Desktop\\yunqiu\\R1_up\\Core\\Src",
"d:\\Desktop\\yunqiu\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\yunqiu\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\yunqiu\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
"d:\\Desktop\\r1\\运球赛\\R1_up\\MDK-ARM",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Src",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
],
"defines": [
"USE_HAL_DRIVER",

4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -96,3 +96,7 @@
[info] Log at : 2025/7/1|14:59:17|GMT+0800
[info] Log at : 2025/7/2|14:47:50|GMT+0800
[info] Log at : 2025/7/2|19:49:16|GMT+0800

2
MDK-ARM/.vscode/uv4.log vendored
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@ -2,7 +2,7 @@
Build target 'R1'
compiling ball.cpp...
linking...
Program Size: Code=28876 RO-data=1832 RW-data=276 ZI-data=32252
Program Size: Code=29032 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: 00:00:06

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/1 0:14:15
2025/7/2 19:50:14

217
User/module/ball.cpp
View File

@ -6,13 +6,19 @@
#include "user_math.h"
#include "shoot.hpp"
#define HANGDING_TWO 0 // 是否使用两次运球
extern RC_ctrl_t rc_ctrl;
extern int ball_exit;
//伸缩
#define I_ANGLE 147
#define O_ANGLE 187
#define WAIT_POS 165
//外死点168 外163 中150 内127 限位124.8
#define I_ANGLE 127
#define O_ANGLE 163
#define WAIT_POS 150
#define IN 124.8
#define OUT 168
// PE11 气缸
@ -41,10 +47,8 @@ Ball ::Ball()
// 状态机状态初始化
currentState1 = BALL_IDLE;
}
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 200 中 1000 👇1800
// sw[5] 👆 200 👇1800
@ -86,8 +90,6 @@ void Ball::rc_mode()
// rc_key = 0; // 其他情况不触发
// }
// last_sw5 = rc_ctrl.sw[5];
}
void Ball::Send_control()
@ -95,7 +97,6 @@ void Ball::Send_control()
CAN_XiaoMi(1, &xiaomi, &hcan2);
osDelay(1);
}
#if ONE_CONTROL == 0
@ -105,7 +106,6 @@ void Ball::ballDown(void)
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
}
void Ball::Move_Extend()
@ -120,59 +120,81 @@ void Ball::Move_Extend()
}
}
// void Ball::ball_control()
// {
// ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
// //ball_state = HAL_GPIO_ReadPin(TEST_GPIO_Port, TEST_Pin); // 读取光电状态(有球 0，无球 1)
// Move_Extend();
// 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 (currentState1 == BALL_FINISH)
// {
// currentState1 = BALL_IDLE;
// }
// else {
// currentState1 = BALL_IDLE; // 默认回到空闲状态
// }
// break;
// case UP2:
// //ballDown();
// //Close();
// 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 (currentState1 == BALL_FINISH)
// {
// currentState1 = BALL_IDLE;
// }
// else {
// currentState1 = BALL_IDLE; // 默认回到空闲状态
// }
// break;
// case DOWN2:
// ballHadling();
// break;
// }
// Send_control();
// }
//int ball_state = 0;
int runCount = 0; // 运球次数计数
int last_ball_state = 0; // 上一次的光电状态
int step = 0; // 0:持球 1:击球 2:反弹 3:完全离开
#if HANGDING_TWO == 0
void Ball::ball_control()
{
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
Move_Extend();
switch (currentState1)
{
case BALL_IDLE:
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
{
currentState1 = BALL_FORWARD;
}
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:
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
Send_control();
}
#else
void Ball::ball_control()
{
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
@ -247,79 +269,10 @@ void Ball::Move_Extend()
break;
}
Send_control();
}
// void Ball::ball_control()
// {
// ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
// Move_Extend();
// switch (currentState1)
// {
// case BALL_IDLE:
// 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
// {
// currentState1 = BALL_FORWARD;
// }
// 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:
// currentState1 = BALL_IDLE; // 默认回到空闲状态
// break;
// }
// Send_control();
// }
#endif
void Ball::Close(void)
{
@ -419,8 +372,6 @@ void Ball::exit_Handling(void)
}
}
void Ball::test_up(void)
{
@ -546,11 +497,8 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
void Ball::ballHadling_two(void)
{
switch (currentState1)
@ -618,7 +566,4 @@ void Ball::ballHadling_two(void)
}
}
#endif