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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
View File

@ -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

297
User/module/ball.cpp
View File

@ -6,30 +6,36 @@
#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
// PE11 气缸
Ball ::Ball()
{
detect_init();
//小米电机
feedback=get_CyberGear_point();
// 小米电机
feedback = get_CyberGear_point();
//小米电机初始化
// 小米电机初始化
xiaomi.position = I_ANGLE; //
xiaomi.speed = 25; //
xiaomi.K_P = 80; // 位置增益
xiaomi.K_D =20; // 位置阻尼
xiaomi.K_C = 12 ; // 力矩
xiaomi.Pmax =1; //好像没啥用
xiaomi.K_D = 20; // 位置阻尼
xiaomi.K_C = 12; // 力矩
xiaomi.Pmax = 1; // 好像没啥用
// //小米电机初始化
// xiaomi.position = 0; //
@ -39,42 +45,40 @@ Ball ::Ball()
// xiaomi.K_C = 0 ;
// xiaomi.Pmax =0;
//状态机状态初始化
currentState1= BALL_IDLE;
// 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
// H键 sw[6] 👆200 👇1800
//左旋 sw[7] 200 --1800
// 左旋 sw[7] 200 --1800
int last_sw5 = 1800; // 上一次拨杆状态
void Ball::rc_mode()
{
if(rc_ctrl.sw[6]==200)
if (rc_ctrl.sw[6] == 200)
{
rc_key=UP2;
rc_key = UP2;
}
if(rc_ctrl.sw[6]==1000)
if (rc_ctrl.sw[6] == 1000)
{
rc_key=MIDDLE2;
rc_key = MIDDLE2;
}
if(rc_ctrl.sw[6]==1800)
if (rc_ctrl.sw[6] == 1800)
{
rc_key=DOWN2;
rc_key = DOWN2;
}
if(rc_ctrl.sw[5]==200)
if (rc_ctrl.sw[5] == 200)
{
extern_key=IN;
extern_key = IN;
}
if(rc_ctrl.sw[5]==1800)
if (rc_ctrl.sw[5] == 1800)
{
extern_key=OUT;
extern_key = OUT;
}
// if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
@ -86,94 +90,43 @@ void Ball::rc_mode()
// rc_key = 0; // 其他情况不触发
// }
// last_sw5 = rc_ctrl.sw[5];
}
void Ball::Send_control()
{
CAN_XiaoMi(1,&xiaomi,&hcan2);
CAN_XiaoMi(1, &xiaomi, &hcan2);
osDelay(1);
}
#if ONE_CONTROL==0
#if ONE_CONTROL == 0
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()
{
if(extern_key==IN)
if (extern_key == IN)
{
xiaomi.position = I_ANGLE;
}
if(extern_key==OUT)
if (extern_key == OUT)
{
xiaomi.position = O_ANGLE;
}
}
// 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)
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
// Move_Extend();
#if HANGDING_TWO == 0
// 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
void Ball::ball_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)
@ -182,7 +135,76 @@ void Ball::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(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)
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
{
@ -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)
{
@ -333,8 +286,8 @@ void Ball::Hadling(void)
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
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)
{
ball_exit = 0; // 进入流程时清零
@ -366,8 +319,8 @@ void Ball::exit_Handling(void)
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
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)
{
ball_exit = 0; // 进入流程时清零
@ -393,7 +346,7 @@ void Ball::exit_Handling(void)
break;
case BALL_FLAG:
//osDelay(10); // 延时 10ms
// osDelay(10); // 延时 10ms
// 只响应第二次边沿
if (ball_exit == 3)
{
@ -419,8 +372,6 @@ void Ball::exit_Handling(void)
}
}
void Ball::test_up(void)
{
@ -467,7 +418,7 @@ void Ball::test_up(void)
break;
case BALL_CLOSE:
//osDelay(25);
// osDelay(25);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到完成状态
break;
@ -476,7 +427,7 @@ void Ball::test_up(void)
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; // 可选：回到空闲状态
// currentState1 = BALL_IDLE; // 可选：回到空闲状态
break;
default:
@ -491,7 +442,7 @@ void Ball::ballHadling(void)
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(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
{
@ -538,7 +489,7 @@ void Ball::ballHadling(void)
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
// currentState1 = BALL_IDLE; // 回到空闲状态
break;
@ -546,18 +497,15 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
}
void Ball::ballHadling_two(void)
{
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
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)
{
runCount = 0; // 每次拨动重新计数
@ -618,7 +566,4 @@ void Ball::ballHadling_two(void)
}
}
#endif