拟合以测

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
+

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

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

@@ -1 +1 @@
-2025/6/16 19:22:49
+2025/6/18 17:18:51

MDK-ARM/R1.uvoptx

@@ -193,12 +193,22 @@
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>aaa,0x0A</ItemText>
+          <ItemText>abc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>wzcsb,0x0A</ItemText>
+          <ItemText>ball_state,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>triggerCount,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>last_ball_state,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

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

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_speed_PID[3] = { 50, 0.0, 0.1};
-const fp32 Ball:: Extend_angle_PID[3]=  { 25, 0.1, 0};
+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_speed_pid[1],PID_POSITION,Extend_speed_PID,15000, 5000);
-   PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,20000, 1000);
+   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
         }

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};
+//尽量别动这组pid
-const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0, 0.1};
+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(&speed_pid,PID_POSITION,M2006_speed_PID,5000, 2000);//pid初始化
-    PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,3000, 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
         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;
 }

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);