RoboDuoduo/R1_up
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磁环松了

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This commit is contained in:
ws 2025-07-02 19:47:00 +08:00
parent b022b46730
commit a056dbcb8a
5 changed files with 22 additions and 29 deletions
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8
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,12 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1' Build target 'R1'
compiling nuc.c...
compiling shootTask.cpp...
compiling ball.cpp... compiling ball.cpp...
compiling ballTask.cpp...
compiling shoot.cpp...
linking... linking...
Program Size: Code=32904 RO-data=1832 RW-data=268 ZI-data=32220 Program Size: Code=32916 RO-data=1832 RW-data=268 ZI-data=32220
FromELF: creating hex file... FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s). "R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:05 Build Time Elapsed: 00:00:08

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/2 14:06:43 2025/7/2 19:36:56

19
MDK-ARM/R1.uvoptx
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@ -153,24 +153,7 @@
<Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint> <Breakpoint/>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>94</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1> <WatchWindow1>
<Ww> <Ww>
<count>0</count> <count>0</count>

19
User/module/ball.cpp
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@ -10,9 +10,12 @@ extern RC_ctrl_t rc_ctrl;
extern int ball_exit; extern int ball_exit;
// 伸缩 // 伸缩
#define I_ANGLE 147 //外死点168 外163 中150 内127 限位124.8
#define O_ANGLE 187 #define I_ANGLE 127
#define WAIT_POS 170 #define O_ANGLE 163
#define WAIT_POS 150
#define IN 124.8
#define OUT 168
// PE11 气缸 // PE11 气缸
@ -75,7 +78,7 @@ void Ball::rc_mode()
} }
if (rc_ctrl.sw[5] == 200) if (rc_ctrl.sw[5] == 200)
{ {
ready_key = 0; // 默认不准备 ready_key = DEF; // 默认不准备
} }
} }
@ -234,17 +237,19 @@ void Ball::ball_control()
ballHadling(); ballHadling();
break; break;
} }
Send_control();
} }
// 防守 // 防守
else else if(ready_key == DEF)
{ {
xiaomi.position = I_ANGLE; // 保持收回 xiaomi.position = I_ANGLE; // 保持收回
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 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
Send_control();
} }
// 发送小米电机控制数据
Send_control();
} }
// 任务通知来作全过程 // 任务通知来作全过程

3
User/module/ball.hpp
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@ -39,7 +39,8 @@ typedef enum
DOWN2, DOWN2,
IN, IN,
OUT, OUT,
SIDE SIDE,
DEF
}ball_rc_mode; }ball_rc_mode;
// 定义光电传感器检测宏 // 定义光电传感器检测宏