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完结撒花

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ws 2025-07-16 22:19:07 +08:00
parent 8f3afcdba5
commit b57c09bce5
10 changed files with 25 additions and 277 deletions
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6
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -156,3 +156,9 @@
[info] Log at : 2025/7/14|07:52:29|GMT+0800
[info] Log at : 2025/7/14|12:31:22|GMT+0800
[info] Log at : 2025/7/14|13:56:03|GMT+0800
[info] Log at : 2025/7/16|22:15:00|GMT+0800

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,4 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling ball.cpp...
linking...
Program Size: Code=32056 RO-data=1832 RW-data=284 ZI-data=32268
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:05
Build Time Elapsed: 00:00:01

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/14 7:54:12
2025/7/16 22:18:46

12
MDK-ARM/R1.uvoptx
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@ -180,6 +180,16 @@
<WinNumber>1</WinNumber>
<ItemText>and1</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>drop_message,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
<Mm>
@ -947,7 +957,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

41
User/module/ball.cpp
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@ -314,47 +314,6 @@ void Ball::ballDown(void)
}
}
// void Ball::Idle_control()
// {
// 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);
// if (ready_key == SIDE) // 检测是否准备好
// {
// xiaomi.position = WAIT_POS;
// if (feedback->position_deg >= WAIT_POS - 3)
// {
// // 只在READY_TELL未置位时发送，防止重复
// if ((osThreadFlagsGet() & READY_TELL) == 0)
// {
// osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
// }
// }
// }
// else
// {
// xiaomi.position = I_ANGLE; // 默认回到收回位置
// }
// // 拨杆回到中间挡位时，回位并重置状态机
// if (currentState1 == EXTEND_FINISH) // 转移后
// {
// xiaomi.position = I_ANGLE;
// currentState1 = BALL_IDLE;
// }
// if (currentState1 == BALL_FINISH) // 运球完成
// {
// xiaomi.position = O_ANGLE;
// currentState1 = BALL_IDLE;
// }
// else
// {
// currentState1 = BALL_IDLE;
// }
// // xiaomi.position = I_ANGLE;
// }
void Ball::Idle_control()
{

113
User/module/gimbal.cpp
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@ -1,113 +0,0 @@
#include "TopDefine.h"
#include "gimbal.hpp"
#include "remote_control.h"
#include "calc_lib.h"
#include "FreeRTOS.h"
#include <cmsis_os2.h>
#define KP 0.12
#define KD 0.008
//可活动角度
#define ANGLE_ALLOW 1.0f
extern RC_ctrl_t rc_ctrl;
NUC_t nuc;
const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1, 0};
const fp32 Gimbal:: Gimbal_angle_PID[3]= { 5, 0.01, 0};
#if GM6020ING ==1
Gimbal::Gimbal()
{
// GM6020_Motor = get_motor_point(6);
// GM6020_Motor->type = GM6020;
// PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
// PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
// result = 0;
// angleSet = 0;
}
void Gimbal::gimbalFlow()
{
int16_t delta[1];
//angleSet = angle1;
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
CAN_cmd_1FF(0,0,result,0,&hcan1);
osDelay(1);
}
void Gimbal::gimbalZero()
{
angleSet=0;
//gimbalFlow();
}
void Gimbal::gimbalVision(const NUC_t &nuc)
{
int16_t delta[1];
angleSet = nuc.vision.x;
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
CAN_cmd_1FF(0,0,result,0,&hcan1);
osDelay(1);
}
#else
Gimbal::Gimbal()
{
Kp = KP;
Kd = KD;
allowRange = ANGLE_ALLOW;
}
void Gimbal::gimbalInit(void)
{
int i;
GO_M8010_init();
for(i = 0;i < GO_NUM;i ++)
{
goData[i] = getGoPoint(i);//获取电机数据指针
angleSet[i] = 0;
offestAngle[i] = 0;
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
offestAngle[i] = goData[i]->Pos;
HAL_Delay(100);
}
}
void Gimbal::gimbalFlow(void)
{
//angleSet[0] = map_fp32((float)rc_ctrl.ch[3],-800.0f,800.0f,-allowRange,allowRange) + offestAngle[0];
GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
osDelay(1);
}
void Gimbal::gimbalZero(void)
{
GO_M8010_send_data(&huart6, 0,0,0,0,0,0,0);
}
void Gimbal::gimbalVision(const NUC_t &nuc)
{
angleSet[0] = nuc.vision.x;
GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
osDelay(1);
}
#endif

57
User/module/gimbal.hpp
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@ -1,57 +0,0 @@
#ifndef GIMBAL_HPP
#define GIMBAL_HPP
#include "GO_M8010_6_Driver.h"
#include "djiMotor.h"
#include "pid.h"
#include "nuc.h"
class Gimbal
{
public:
Gimbal();
void gimbalFlow(void);//云台随遥控器转动
void gimbalZero(void);//云台零阻尼模式
void gimbalInit(void);//go初始化
void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
int16_t result;
//暂存要发送的扭矩
//float result[GO_NUM];
// float Kp;
// float Kd;
private:
#if GM6020ING == 1
//GM6020电机数据
motor_measure_t *GM6020_Motor;
static const float Gimbal_speed_PID[3];
static const float Gimbal_angle_PID[3];
//电机速度pid结构体
pid_type_def speed_pid;
//位置环pid
pid_type_def angle_pid;
float angleSet;
#else
motor_measure_t *motorData[GO_NUM];
//视觉发送的要调的角度
float self_angleSet;
GO_Motorfield* goData[GO_NUM];
//暂存目标位置
float angleSet[GO_NUM];
float offestAngle[GO_NUM];//go数据
float Kp;
float Kd;
float allowRange;
#endif
};
#endif

13
User/module/shoot.cpp
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@ -39,7 +39,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
#define CHANEGE_POS -205
#define GO_ERROR 1.0f
#define Tigger_DO -10
#define Tigger_ZERO 115
#define Tigger_ZERO 125
#define Tigger_ERROR 3
float knob_increment;
@ -273,8 +273,8 @@ void Shoot::shoot_control()
{
case VSION:
//fire_pos = distance; // 视觉拟合的力
fire_pos =shoot_fitting(distance)+and1;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
//fire_pos =shoot_fitting(distance)+and1;
fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
{
@ -455,7 +455,7 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
fire_pos = shoot_fitting(distance)+and1; // 视觉拟合的力
fire_pos = shoot_fitting(distance)+and1;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@ -511,11 +511,10 @@ void Shoot::shoot_control()
switch (rc_key)
{
case MIDDLE1:
fire_pos = pass_fitting(pass_distance)+and2;
fire_pos = shoot_fitting(distance)+and1;
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
ball_receive(); // ball_receive内部写go1.Pos
ball_receive();
}
else if (shoot_thread & EXTEND_OK)
{

47
User/task/gimbalTask.cpp
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@ -1,47 +0,0 @@
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "userTask.h"
#include <cmsis_os2.h>
#include "gimbalTask.hpp"
#include "gimbal.hpp"
#include "main.h"
#include "remote_control.h"
#include "nuc.h"
Gimbal gimbal;
// NUC_t nucData; // 用于存储从队列接收的数据
extern RC_ctrl_t rc_ctrl;
int cnt1=0;
void FunctionGimbal(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
uint32_t tick = osKernelGetTickCount();
while(1)
{
#ifdef DEBUG
task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());
#endif
//cnt1++;
// gimbal.gimbalFlow();
// 从消息队列接收视觉数据
// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
// {
// // 使用接收到的视觉数据调整云台
// //gimbal.gimbalVision(nucData);
// }
osDelay(1);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);
}
}

5
User/task/gimbalTask.hpp
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@ -1,5 +0,0 @@
#ifndef GIMBALTASK_HPP
#define GIMBALTASK_HPP
#endif