正赛流程跑过了
This commit is contained in:
parent
665de4aef4
commit
c39c03c3e5
2
MDK-ARM/.vscode/keil-assistant.log
vendored
2
MDK-ARM/.vscode/keil-assistant.log
vendored
@ -150,3 +150,5 @@
|
||||
|
||||
[info] Log at : 2025/7/13|16:33:17|GMT+0800
|
||||
|
||||
[info] Log at : 2025/7/13|16:42:25|GMT+0800
|
||||
|
||||
|
||||
12
MDK-ARM/.vscode/uv4.log
vendored
12
MDK-ARM/.vscode/uv4.log
vendored
@ -1,8 +1,18 @@
|
||||
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
|
||||
Build target 'R1'
|
||||
compiling userTask.c...
|
||||
compiling remote_control.c...
|
||||
compiling initTask.c...
|
||||
compiling main.c...
|
||||
compiling shootTask.cpp...
|
||||
compiling djiMotor.c...
|
||||
compiling nucTask.cpp...
|
||||
compiling encodeCan.cpp...
|
||||
compiling ballTask.cpp...
|
||||
compiling ball.cpp...
|
||||
compiling shoot.cpp...
|
||||
linking...
|
||||
Program Size: Code=31396 RO-data=1832 RW-data=276 ZI-data=32260
|
||||
Program Size: Code=32032 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: 00:00:09
|
||||
|
||||
2
MDK-ARM/.vscode/uv4.log.lock
vendored
2
MDK-ARM/.vscode/uv4.log.lock
vendored
@ -1 +1 @@
|
||||
2025/7/13 16:34:35
|
||||
2025/7/13 17:07:34
|
||||
@ -154,18 +154,6 @@
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint/>
|
||||
<WatchWindow1>
|
||||
<Ww>
|
||||
<count>0</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>shoot,0x0A</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>1</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>ball,0x0A</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow1>
|
||||
<MemoryWindow4>
|
||||
<Mm>
|
||||
<WinNumber>4</WinNumber>
|
||||
|
||||
@ -217,7 +217,7 @@ void Ball::ballHadling(void)
|
||||
void Ball::ball_control()
|
||||
{
|
||||
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
|
||||
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
|
||||
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
|
||||
|
||||
|
||||
// 进攻
|
||||
@ -257,6 +257,8 @@ void Ball::ball_control()
|
||||
osThreadFlagsClear(READY_TELL); // 蓄力标志位
|
||||
osThreadFlagsClear(HANDING_FINISH);
|
||||
|
||||
haveball=0;//变为空球状态
|
||||
|
||||
currentState1 = BALL_IDLE;
|
||||
|
||||
Send_control();
|
||||
@ -356,7 +358,20 @@ 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
|
||||
if(ball_state==1 && haveball==0)// 读取光电状态(有球 0，无球 1)
|
||||
{
|
||||
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸张开
|
||||
|
||||
}
|
||||
if(ball_state==0)
|
||||
{
|
||||
haveball=1;//变为持球状态
|
||||
osDelay(500);
|
||||
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸闭合
|
||||
}
|
||||
|
||||
|
||||
// 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);
|
||||
|
||||
@ -74,11 +74,10 @@ public:
|
||||
int16_t extern_key;
|
||||
int16_t ready_key; //准备按键
|
||||
//用于传接球,运球后通知
|
||||
volatile BallState_t ballStatus;//是否有球
|
||||
volatile uint32_t hand_thread;//接收传回的线程通知
|
||||
|
||||
private:
|
||||
|
||||
bool haveball;
|
||||
|
||||
|
||||
};
|
||||
|
||||
@ -32,7 +32,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
|
||||
#define TO_TOP 13.0f
|
||||
#define TO_BOTTOM 6.0f
|
||||
|
||||
#define INIT_POS -135
|
||||
#define INIT_POS -120
|
||||
#define TOP_POS -211
|
||||
#define BOTTOM_POS 0
|
||||
#define WAIT_POS -170
|
||||
@ -86,16 +86,23 @@ void Shoot::trigger_control()
|
||||
CAN_cmd_200(result, 0, 0, 0, &hcan1);
|
||||
}
|
||||
|
||||
float shoot_fitting(float x)
|
||||
{
|
||||
return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
|
||||
}
|
||||
//好使老拟合
|
||||
// float shoot_fitting(float x)
|
||||
// {
|
||||
// return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
|
||||
// }
|
||||
|
||||
// float shoot_fitting(float x)
|
||||
// {
|
||||
// return 1.4255807f * x * x + 12.138447f * x + -136.35306f;
|
||||
// }
|
||||
|
||||
float shoot_fitting(float x)
|
||||
{
|
||||
return 1.2143736f * x * x + 14.733786f * x + -133.3627f;
|
||||
}
|
||||
|
||||
|
||||
|
||||
float pass_fitting(float x)
|
||||
{
|
||||
@ -231,7 +238,7 @@ void Shoot::rc_mode()
|
||||
|
||||
#if ONE_CONTROL == 0
|
||||
|
||||
float and1=2.0f;
|
||||
float and1=0.0f;
|
||||
void Shoot::shoot_control()
|
||||
{
|
||||
|
||||
@ -242,8 +249,7 @@ void Shoot::shoot_control()
|
||||
{
|
||||
case VSION:
|
||||
//fire_pos = distance; // 视觉拟合的力
|
||||
// fire_pos =shoot_fitting(distance)+and1;
|
||||
fire_pos =shoot_fitting(distance)+2.0f-2.3f;
|
||||
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)
|
||||
@ -330,7 +336,7 @@ void Shoot::shoot_control()
|
||||
break;
|
||||
}
|
||||
|
||||
abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
|
||||
abs_limit_min_max_fp(&go1.Pos, -210.0f, 8.0f);
|
||||
// 发送数据到蓄力电机
|
||||
GO_SendData(go1.Pos, limit_speed);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user