From c39c03c3e599d814853c8422a3741244f03aa946 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Sun, 13 Jul 2025 20:43:08 +0800
Subject: [PATCH] =?UTF-8?q?=E6=AD=A3=E8=B5=9B=E6=B5=81=E7=A8=8B=E8=B7=91?=
=?UTF-8?q?=E8=BF=87=E4=BA=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
MDK-ARM/.vscode/keil-assistant.log | 2 ++
MDK-ARM/.vscode/uv4.log | 12 +++++++++++-
MDK-ARM/.vscode/uv4.log.lock | 2 +-
MDK-ARM/R1.uvoptx | 12 ------------
User/module/ball.cpp | 19 +++++++++++++++++--
User/module/ball.hpp | 3 +--
User/module/shoot.cpp | 24 +++++++++++++++---------
7 files changed, 47 insertions(+), 27 deletions(-)
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 4a92f9b..b06872f 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -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
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index a7bd955..85b4dd4 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -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
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index b68a1b8..c28d343 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/13 16:34:35
\ No newline at end of file
+2025/7/13 17:07:34
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index e150a28..0d9928a 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -154,18 +154,6 @@
-
-
- 0
- 1
- shoot,0x0A
-
-
- 1
- 1
- ball,0x0A
-
-
4
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 903d857..e4b868d 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -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);
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index 8595c5f..afd771e 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -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;
};
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 744dd0b..0246bbc 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -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);