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可以小防护一下错误操作 还有bug

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This commit is contained in:
ws 2025-07-08 20:37:05 +08:00
parent e17113c679
commit a939a4d8f3
10 changed files with 163 additions and 78 deletions
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12
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -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

10
MDK-ARM/.vscode/uv4.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/6 23:29:24
2025/7/8 19:42:52

25
MDK-ARM/R1.uvoptx
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@ -173,32 +173,17 @@
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>ball_exit,0x0A</ItemText>
<ItemText>nucbuf,0x10</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
<ItemText>drop_message,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_v</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>test_exit,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ttttt1,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>ball_exit,0x0A</ItemText>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
@ -967,7 +952,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1059,7 +1044,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

4
User/bsp/TopDefine.h
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@ -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)

97
User/device/nuc.c
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@ -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 {
@ -93,42 +149,23 @@ 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++;

26
User/module/ball.cpp
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@ -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);

48
User/module/shoot.cpp
View File

@ -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
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
{
@ -543,10 +571,14 @@ void Shoot ::ball_receive()
case SHOOT_IDLE:
// 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
{
t_posSet = Tigger_ZERO;
if(trigger_Motor->total_angle > Tigger_ZERO-5 )
{
control_pos = TOP_POS;
limit_speed = TO_TOP; // 快速上去
t_posSet = Tigger_ZERO;
}
if (feedback.fd_gopos < -209)
{
currentState = GO_TOP; // 切换到准备发射状态

2
User/module/shoot.hpp
View File

@ -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

3
User/task/ballTask.cpp
View File

@ -40,6 +40,9 @@ void FunctionBall(void *argument)
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);