diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index faeaec9..540c529 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -108,3 +108,15 @@
[info] Log at : 2025/7/6|23:12:04|GMT+0800
+[info] Log at : 2025/7/7|04:53:38|GMT+0800
+
+[info] Log at : 2025/7/7|08:44:07|GMT+0800
+
+[info] Log at : 2025/7/7|14:20:11|GMT+0800
+
+[info] Log at : 2025/7/8|02:49:12|GMT+0800
+
+[info] Log at : 2025/7/8|13:15:42|GMT+0800
+
+[info] Log at : 2025/7/8|18:00:22|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 0dfe75c..7c4ce93 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -3,16 +3,16 @@ Build target 'R1'
compiling userTask.c...
compiling remote_control.c...
compiling initTask.c...
-compiling nucTask.cpp...
compiling encodeCan.cpp...
-compiling ballTask.cpp...
-compiling djiMotor.c...
compiling main.c...
compiling shootTask.cpp...
+compiling nucTask.cpp...
+compiling djiMotor.c...
+compiling ballTask.cpp...
compiling shoot.cpp...
compiling ball.cpp...
linking...
-Program Size: Code=32720 RO-data=1832 RW-data=268 ZI-data=32220
+Program Size: Code=32016 RO-data=1832 RW-data=276 ZI-data=32260
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:09
+Build Time Elapsed: 00:00:10
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index e34152f..75c4ffc 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/6 23:29:24
\ No newline at end of file
+2025/7/8 19:42:52
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index e374b68..df70209 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -173,32 +173,17 @@
3
1
- ball_exit,0x0A
+ nucbuf,0x10
4
1
- nucbuf
+ drop_message,0x0A
5
1
- nuc_v
-
-
- 6
- 1
- test_exit,0x0A
-
-
- 7
- 1
- ttttt1,0x0A
-
-
- 8
- 1
- ball_exit,0x0A
+ cmd_fromnuc
@@ -967,7 +952,7 @@
User/device
- 0
+ 1
0
0
0
@@ -1059,7 +1044,7 @@
User/module
- 1
+ 0
0
0
0
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 155863b..9d74009 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -16,7 +16,7 @@
#endif
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
//是否使用大疆DT7遥控器
#ifndef DT7
@@ -43,6 +43,8 @@
#define EXTEND_OK (1<<3)
//等待ok
#define WAIT_OK (1<<4)
+//可以防守收回
+#define DEF_READY (1<<5)
//要发送ok了
#define BALL_SEND (1<<6)
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 0cf5add..07f542b 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
volatile uint32_t drop_message = 0;
-uint8_t nucbuf[16];
+uint8_t nucbuf[20];
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
static void NUC_CBLTCallback(void)
@@ -82,6 +82,62 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
return DEVICE_OK; // 发送成功
}
+// int8_t NUC_RawParse(NUC_t *n) {
+// if (n == NULL) return DEVICE_ERR_NULL;
+// union {
+// float x[3];
+// char data[12];
+// } instance; // 方便在浮点数和字符数组之间进行数据转换
+
+// // 校验数据包头
+// if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
+// else
+// {
+// n->status_fromnuc = nucbuf[1];
+// n->ctrl_status = nucbuf[2];
+// switch (n->status_fromnuc) {
+// case VISION:
+// /* 协议格式
+// 0xFF HEAD
+// 0x07
+// 控制帧
+// 0x01 相机帧
+// x fp32
+// 0xFE TAIL
+// */
+// if (nucbuf[7] != TAIL) goto error;
+
+// instance.data[3] = nucbuf[6];
+// instance.data[2] = nucbuf[5];
+// instance.data[1] = nucbuf[4];
+// instance.data[0] = nucbuf[3];
+// n->vision.x = instance.x[0];
+
+// instance.data[7] = nucbuf[10];
+// instance.data[6] = nucbuf[9];
+// instance.data[5] = nucbuf[8];
+// instance.data[4] = nucbuf[7];
+// n->vision.y = instance.x[1];
+
+
+// break;
+// }
+// return DEVICE_OK;
+// }
+
+
+// error:
+// drop_message++;
+// return DEVICE_ERR;
+// }
+
+
+ /* 协议格式
+ 0xFF HEAD
+ x fp32
+ y fp32
+ 0xFE TAIL
+ */
int8_t NUC_RawParse(NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {
@@ -93,43 +149,24 @@ int8_t NUC_RawParse(NUC_t *n) {
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
else
{
- n->status_fromnuc = nucbuf[1];
- n->ctrl_status = nucbuf[2];
- switch (n->status_fromnuc) {
- case VISION:
- /* 协议格式
- 0xFF HEAD
- 0x07
- 控制帧
- 0x01 相机帧
- x fp32
- 0xFE TAIL
- */
- if (nucbuf[7] != TAIL) goto error;
- instance.data[3] = nucbuf[6];
- instance.data[2] = nucbuf[5];
- instance.data[1] = nucbuf[4];
- instance.data[0] = nucbuf[3];
+ if (nucbuf[9] != TAIL) goto error;
+
+ instance.data[3] = nucbuf[4];
+ instance.data[2] = nucbuf[3];
+ instance.data[1] = nucbuf[2];
+ instance.data[0] = nucbuf[1];
n->vision.x = instance.x[0];
- instance.data[7] = nucbuf[10];
- instance.data[6] = nucbuf[9];
- instance.data[5] = nucbuf[8];
- instance.data[4] = nucbuf[7];
+ instance.data[7] = nucbuf[8];
+ instance.data[6] = nucbuf[7];
+ instance.data[5] = nucbuf[6];
+ instance.data[4] = nucbuf[5];
n->vision.y = instance.x[1];
- instance.data[11] = nucbuf[11];
- instance.data[10] = nucbuf[12];
- instance.data[9] = nucbuf[13];
- instance.data[8] = nucbuf[14];
- n->vision.z = instance.x[2];
- break;
}
return DEVICE_OK;
- }
-
-
+
error:
drop_message++;
return DEVICE_ERR;
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 7577500..5de5457 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -10,10 +10,11 @@ extern RC_ctrl_t rc_ctrl;
extern int ball_exit;
// 伸缩
-//外死点168 外163 中150 内127 限位124.8
-#define I_ANGLE 124.8
-#define O_ANGLE 168
-#define WAIT_POS 150
+//外死点132 外130 中119.12 内92 限位90
+
+#define I_ANGLE 92
+#define O_ANGLE 130
+#define WAIT_POS 119
// PE11 气缸git stash apply
@@ -221,6 +222,7 @@ void Ball::ball_control()
// 进攻
if (ready_key == SIDE)
{
+ osThreadFlagsClear(DEF_READY);
switch (rc_key)
{
case MIDDLE2:
@@ -241,10 +243,20 @@ void Ball::ball_control()
// 防守
else if(ready_key == DEF)
{
- xiaomi.position = I_ANGLE; // 保持收回
+ if(hand_thread & DEF_READY)
+ {
+ 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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+ osThreadFlagsClear(EXTEND_OK);
+ osThreadFlagsClear(READY_TELL); // 蓄力标志位
+ osThreadFlagsClear(HANDING_FINISH);
+
+
Send_control();
}
@@ -259,7 +271,7 @@ void Ball::ballDown(void)
{
case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回
- if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
+ if (feedback->position_deg >= I_ANGLE - 1 && feedback->position_deg <= I_ANGLE + 1)
{
currentState1 = EXTEND_DOWN;
}
@@ -278,7 +290,7 @@ void Ball::ballDown(void)
case EXTEND_OUT:
xiaomi.position = O_ANGLE; // 保持伸出
- if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
+ if (feedback->position_deg >= O_ANGLE - 1 && feedback->position_deg <= O_ANGLE + 1)
{
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 49d409e..0cb790c 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -32,16 +32,18 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
#define TO_TOP 10.0f
#define TO_BOTTOM 6.0f
-#define INIT_POS -130
+#define INIT_POS -135
#define TOP_POS -211
#define BOTTOM_POS 0
+#define WAIT_POS -150
#define GO_ERROR 1.0f
#define Tigger_DO 0
-#define Tigger_ZERO 120
+#define Tigger_ZERO 138
#define Tigger_ERROR 3
float knob_increment;
double last_distance = 4.0f; // 4米做测试吧
+double last_pass = 4.0f; // 4米做测试吧
Shoot::Shoot()
{
@@ -71,6 +73,7 @@ Shoot::Shoot()
currentState = SHOOT_IDLE;
LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
+ LowPassFilter2p_Init(&pass_filter, 500.0f, 80.0f); // 给distance 做滤波
}
void Shoot::trigger_control()
@@ -82,11 +85,17 @@ void Shoot::trigger_control()
CAN_cmd_200(result, 0, 0, 0, &hcan1);
}
+// float shoot_fitting(float x)
+// {
+// return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f;
+// }
+
float shoot_fitting(float x)
{
- return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f;
+ return 0.67076341f * x * x + 20.212423f * x + -154.53966f;
}
+
float pass_fitting(float x)
{
return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f;
@@ -100,8 +109,13 @@ void Shoot::distanceGet(const NUC_t &nuc_v)
last_distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x);
}
+ if(nuc_v.vision.y >= 0.0f && nuc_v.vision.y <= 7.5f)
+ {
+ last_pass = LowPassFilter2p_Apply(&pass_filter, nuc_v.vision.y);
+ }
// 否则不更新，保持上一次的值
distance = last_distance;
+ pass_distance =last_pass;
}
int Shoot::GO_SendData(float pos, float limit)
@@ -225,8 +239,10 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
- fire_pos = distance; // 视觉拟合的力
- // fire_pos =shoot_fitting(test_distance);
+ //fire_pos = distance; // 视觉拟合的力
+ fire_pos =shoot_fitting(distance);
+ //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
switch (rc_key)
{
case DOWN1:
@@ -460,7 +476,8 @@ void Shoot::shoot_control()
switch (rc_key)
{
case MIDDLE1:
- fire_pos = pass_fitting(distance);
+ //fire_pos = pass_fitting(distance);
+ fire_pos = pass_fitting(pass_distance);
if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
{
// 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
@@ -517,10 +534,21 @@ void Shoot::shoot_control()
}
else if (ready_key == DEFENSE)
{
- control_pos = TOP_POS - 2.0f; //-209
+ control_pos = WAIT_POS; //-209
go1.Pos = control_pos;
limit_speed = TO_TOP; // 快速上去
- t_posSet = Tigger_ZERO; // 扳机松开
+ if(feedback.fd_gopos < -149)
+ {
+ t_posSet = Tigger_ZERO; // 扳机松开
+ osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
+
+ }
+
+ osThreadFlagsClear(EXTEND_OK);
+ osThreadFlagsClear(READY_TELL); // 蓄力标志位
+ osThreadFlagsClear(HANDING_FINISH);
+
+
}
else
{
@@ -544,9 +572,13 @@ void Shoot ::ball_receive()
// 初始状态：钩子移动到顶部，钩住拉簧
if (shoot_thread & READY_TELL) // 如果收到等待通知
{
- control_pos = TOP_POS;
- limit_speed = TO_TOP; // 快速上去
t_posSet = Tigger_ZERO;
+ if(trigger_Motor->total_angle > Tigger_ZERO-5 )
+ {
+ control_pos = TOP_POS;
+ limit_speed = TO_TOP; // 快速上去
+
+ }
if (feedback.fd_gopos < -209)
{
currentState = GO_TOP; // 切换到准备发射状态
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 54d1f7d..02c0ede 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -87,6 +87,7 @@ public:
//滤波器
LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
+ LowPassFilter2p_t pass_filter;
//==========================公共变量==========================
int16_t rc_key; //遥控器按键
@@ -97,6 +98,7 @@ public:
volatile uint32_t shoot_thread;//接收传回的线程通知
fp32 distance; //视觉距离
+ fp32 pass_distance; //视觉距离
private:
//扳机2006
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 6408282..86a6556 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -22,7 +22,7 @@ void FunctionBall(void *argument)
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
- osDelay(6000);//等待极致控制板启动
+ osDelay(6000);//等待极致控制板启动
XiaomiWait_init(1,&hcan2); //小米电机初始化
uint32_t tick = osKernelGetTickCount();
@@ -36,10 +36,13 @@ void FunctionBall(void *argument)
//abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
- ball.rc_mode(); // 遥控器模式
+ ball.rc_mode(); // 遥控器模式
- ball.ball_control(); // 控制球的动作
+ ball.ball_control(); // 控制球的动作
+
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸关闭
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 确保下气缸关闭
// ball.xiaomi.position = aaaa;
// CAN_XiaoMi(1,&ball.xiaomi,&hcan2);