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极致科技的磁环松了

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ws 2025-07-02 19:33:24 +08:00
parent 3db9ee683f
commit bc7e418ed9
4 changed files with 21 additions and 32 deletions
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31
MDK-ARM/R1.uvoptx
View File

@ -158,42 +158,27 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>shoot,0x0A</ItemText> <ItemText>rc_ctrl,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nucData,0x0A</ItemText> <ItemText>shoot,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText> <ItemText>ball,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>wzcsb,0x0A</ItemText> <ItemText>nucbuf</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>4</count> <count>4</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nuc_v</ItemText> <ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>shoot_wait,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>error_code</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow4> <MemoryWindow4>
@ -962,7 +947,7 @@
<Group> <Group>
<GroupName>User/device</GroupName> <GroupName>User/device</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1054,7 +1039,7 @@
<Group> <Group>
<GroupName>User/module</GroupName> <GroupName>User/module</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1086,7 +1071,7 @@
<Group> <Group>
<GroupName>User/task</GroupName> <GroupName>User/task</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

17
User/module/ball.cpp
View File

@ -9,10 +9,13 @@
extern RC_ctrl_t rc_ctrl; extern RC_ctrl_t rc_ctrl;
extern int ball_exit; extern int ball_exit;
// 外死点168 外163 中150 内127 限位124.8
// 伸缩 // 伸缩
#define I_ANGLE 147 #define I_ANGLE 127
#define O_ANGLE 187 #define O_ANGLE 163
#define WAIT_POS 170 #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 = DE; // 默认不准备
} }
} }
@ -234,17 +237,17 @@ void Ball::ball_control()
ballHadling(); ballHadling();
break; break;
} }
Send_control();
} }
// 防守 // 防守
else if(ready_key == DEFENSE)
{ {
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
View File

@ -39,7 +39,8 @@ typedef enum
DOWN2, DOWN2,
IN, IN,
OUT, OUT,
SIDE SIDE,
DE
}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