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拟合以测

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ws 2025-06-19 17:46:10 +08:00
parent 74d7f2ef20
commit c6ded22f93
8 changed files with 76 additions and 47 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -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

8
MDK-ARM/.vscode/uv4.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/16 19:22:49
2025/6/18 17:18:51

14
MDK-ARM/R1.uvoptx
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@ -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>

25
MDK-ARM/README.md Normal file
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@ -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

24
User/module/ball.cpp
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@ -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
}

43
User/module/shoot.cpp
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@ -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
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;
}

1
User/task/ballTask.cpp
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@ -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);