diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 3322765..1a2d8ef 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -36,3 +36,7 @@
[info] Log at : 2025/6/17|19:06:14|GMT+0800
+[info] Log at : 2025/6/19|13:29:28|GMT+0800
+
+[info] Log at : 2025/6/19|17:34:46|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index fe4818c..f0584ac 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,10 +1,4 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
-compiling shoot.cpp...
-compiling ballTask.cpp...
-compiling ball.cpp...
-linking...
-Program Size: Code=30080 RO-data=1828 RW-data=268 ZI-data=32660
-FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:07
+Build Time Elapsed: 00:00:01
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index ab2e63f..0c8da1b 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/6/16 19:22:49
\ No newline at end of file
+2025/6/18 17:18:51
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 630d47e..b25b103 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -193,12 +193,22 @@
7
1
- aaa,0x0A
+ abc,0x0A
8
1
- wzcsb,0x0A
+ ball_state,0x0A
+
+
+ 9
+ 1
+ triggerCount,0x0A
+
+
+ 10
+ 1
+ last_ball_state,0x0A
diff --git a/MDK-ARM/README.md b/MDK-ARM/README.md
new file mode 100644
index 0000000..5264b48
--- /dev/null
+++ b/MDK-ARM/README.md
@@ -0,0 +1,25 @@
+# R1_up
+
+r1上层
+
+## 外设
+
++ CAN1
+ + 扳机2006 id:0x201
++ CAN2
+ + 小米电机 id:1
++ UART
+ + uart1 波特率4000000 id：2
+ + uart6 nuc
+ + uart3 遥控器接收
++ GPIO
+ + PI6运球光电
+ + PE13 爪气缸
+ + PE14 砸气缸
+
+## 遥控器
+
+## 待解决
+
++ 用了将运球和伸缩绑定到一起
++ 串口收数加个滤波
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 46c1f7f..17ade79 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -12,13 +12,13 @@ extern int key;
//伸缩
#define M_SPEED 4000
#define I_ANGLE1 180
-#define I_ANGLE2 -75
+#define I_ANGLE2 -73.5
#define O_ANGLE1 340
-#define O_ANGLE2 -240
+#define O_ANGLE2 -239
-const fp32 Ball:: Extend_speed_PID[3] = { 40, 0.0, 0.1};
-const fp32 Ball:: Extend_angle_PID[3]= { 25, 0.1, 0};
+const fp32 Ball:: Extend_speed_PID[3] = { 50, 0.0, 0.1};
+const fp32 Ball:: Extend_angle_PID[3]= { 50, 0.3, 0};
//PE11 气缸
@@ -33,11 +33,11 @@ Ball ::Ball()
Extern_Motor[0]->type = GM6020;
Extern_Motor[1]->type = GM6020;
- PID_init(&extend_speed_pid[0],PID_POSITION,Extend_speed_PID,10000, 2000);
+ PID_init(&extend_speed_pid[0],PID_POSITION,Extend_speed_PID,20000, 2000);
PID_init(&extend_angle_pid[0],PID_POSITION,Extend_angle_PID,20000, 1000);
- PID_init(&extend_speed_pid[1],PID_POSITION,Extend_speed_PID,10000, 2000);
- PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,20000, 1000);
+ PID_init(&extend_speed_pid[1],PID_POSITION,Extend_speed_PID,15000, 5000);
+ PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,15000, 5000);
e_result[0] = 0;
e_result[1] = 0;
@@ -127,7 +127,7 @@ void Ball::ballDown(void)
void Ball::ball_control()
{
- ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
+ ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
Move_Extend();
@@ -145,11 +145,11 @@ void Ball::ball_control()
break;
case UP2:
- ballHadling();
+ ballDown();
break;
case DOWN2:
- ballDown();
+ ballHadling();
break;
@@ -181,7 +181,7 @@ void Ball::ballHadling(void)
case BALL_IDLE:
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
- if (key > 0 ||rc_key == UP2) // 检测按键是否被按下
+ if (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下
{
key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数
@@ -224,7 +224,7 @@ void Ball::ballHadling(void)
case BALL_CLOSE:
if (triggerCount == 2) // 确保是第二次触发
{
- osDelay(100); // 延时去抖
+ osDelay(50);
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到反转状态
}
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index ff5f0c9..bd3e98b 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -20,8 +20,9 @@ NUC_t nuc_v;
//B键 sw[3]👆 200 开 👇1800 关
//左旋钮 sw[4] 👈 200 👉1800
-const fp32 Shoot:: M2006_speed_PID[3] = {5, 0, 0};
-const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0, 0.1};
+//尽量别动这组pid
+const fp32 Shoot:: M2006_speed_PID[3] = {5, 0, 0.01};
+const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0.1, 0};
#define INIT_POS -130
#define TOP_POS -210
@@ -38,8 +39,8 @@ Shoot::Shoot()
//扳机初始化
trigger_Motor= get_motor_point(0);//id 201
trigger_Motor->type=M2006;
- PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,3000, 2000);//pid初始化
- PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,3000, 2000);//pid初始化
+ PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,5000, 2000);//pid初始化
+ PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,5000, 2000);//pid初始化
t_speedSet = 0;
result = 0;
@@ -174,12 +175,11 @@ void Shoot::shoot_control() {
switch (mode_key)
{
case VSION:
+ fire_pos = distance; // 视觉拟合的力
switch (rc_key) {
case DOWN1:
- control_pos = INIT_POS; // 默认中间挡位位置
- //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
- fire_pos = distance; // 视觉拟合的力
+ control_pos = INIT_POS; // 默认中间挡位位置
go1.Pos = fire_pos; // 设置蓄力电机位置
t_posSet = Tigger_ZERO; // 扳机松开
@@ -209,12 +209,15 @@ void Shoot::shoot_control() {
}
break;
case TEST:
+ //实时可调蓄力位置
+ fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
switch (rc_key) {
case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置
//fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
- fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
+ //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
go1.Pos = fire_pos; // 设置蓄力电机位置
t_posSet = Tigger_ZERO; // 扳机松开
@@ -288,27 +291,12 @@ void Shoot :: shoot_Current()
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) {
BSP_Buzzer_Start();
BSP_Buzzer_Set(1,5000);
- // see_you_again();
//currentState = SHOOT_WAIT; // 等待发射信号
//在拨杆切换时触发了
}
}
break;
- // case SHOOT_WAIT:
- // // 等待发射信号
- // if (trigger_key == SHOOT) {
- // currentState = SHOOT_FIRE; // 切换到发射状态
- // }
- // break;
- // case SHOOT_FIRE:
- // // 发射逻辑
- // t_posSet = Tigger_ZERO; // 扳机扣动
- // if (t_posSet <= 50) { // 假设250度为发射完成角度
- // currentState = SHOOT_IDLE; // 切换到空闲状态
- // is_hooked = false; // 重置钩子状态
- // }
- // break;
default:
currentState = SHOOT_IDLE; // 默认回到空闲状态
@@ -319,10 +307,17 @@ void Shoot :: shoot_Current()
void Shoot::RemoveError() {
currentState = SHOOT_IDLE;
control_pos = TOP_POS;
- go1.Pos = control_pos;
- if(feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f)
+ if (feedback.fd_gopos >= control_pos - 0.5f&& feedback.fd_gopos<= control_pos + 0.5f)
{
t_posSet = Tigger_ZERO;
is_hooked = false;
}
+ if(trigger_Motor->total_angle>=Tigger_ZERO-10)
+ {
+ //认为完全松开
+ control_pos=INIT_POS;
+
+ }
+
+ go1.Pos = control_pos;
}
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index a66feb4..7bf6427 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -34,6 +34,7 @@ void FunctionBall(void *argument)
ball.ball_control(); // 控制球的动作
+
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);