正赛流程跑过了

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
+

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

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/7/13 16:34:35
+2025/7/13 17:07:34

MDK-ARM/R1.uvoptx

@@ -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>

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);

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;
 
     
 };

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)
+//好使老拟合
-{
+// float shoot_fitting(float x)
-    return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
+// {
-}
+//     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)+and1;
-        fire_pos =shoot_fitting(distance)+2.0f-2.3f;
         //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);