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极致科技的磁环松了

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This commit is contained in:
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>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>shoot,0x0A</ItemText>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>nucData,0x0A</ItemText>
<ItemText>shoot,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
<ItemText>ball,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>wzcsb,0x0A</ItemText>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_v</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>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
@ -962,7 +947,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1054,7 +1039,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1086,7 +1071,7 @@
<Group>
<GroupName>User/task</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

17
User/module/ball.cpp
View File

@ -9,10 +9,13 @@
extern RC_ctrl_t rc_ctrl;
extern int ball_exit;
// 外死点168 外163 中150 内127 限位124.8
// 伸缩
#define I_ANGLE 147
#define O_ANGLE 187
#define WAIT_POS 170
#define I_ANGLE 127
#define O_ANGLE 163
#define WAIT_POS 150
#define IN 124.8
#define OUT 168
// PE11 气缸
@ -75,7 +78,7 @@ void Ball::rc_mode()
}
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();
break;
}
Send_control();
}
// 防守
else
if(ready_key == DEFENSE)
{
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
Send_control();
}
// 发送小米电机控制数据
Send_control();
}
// 任务通知来作全过程

3
User/module/ball.hpp
View File

@ -39,7 +39,8 @@ typedef enum
DOWN2,
IN,
OUT,
SIDE
SIDE,
DE
}ball_rc_mode;
// 定义光电传感器检测宏

2
User/task/ballTask.cpp
View File

@ -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();