抽象拟合
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100b21b730
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4
MDK-ARM/.vscode/keil-assistant.log
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4
MDK-ARM/.vscode/keil-assistant.log
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@ -138,3 +138,7 @@
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[info] Log at : 2025/7/10|22:12:10|GMT+0800
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[info] Log at : 2025/7/11|10:11:25|GMT+0800
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[info] Log at : 2025/7/11|17:39:11|GMT+0800
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41
MDK-ARM/.vscode/uv4.log
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MDK-ARM/.vscode/uv4.log
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@ -1,39 +1,8 @@
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
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Build target 'R1'
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compiling shoot.cpp...
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linking...
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R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REV16 multiply defined (by main.o and main.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REVSH multiply defined (by main.o and main.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____RRX multiply defined (by main.o and main.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REVSHs multiply defined (by shoot.o and shoot.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REV16 multiply defined (by djimotor.o and djimotor.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REVSH multiply defined (by djimotor.o and djimotor.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____RRX multiply defined (by djimotor.o and djimotor.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REV16 multiply defined (by remote_control.o and remote_control.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REVSH multiply defined (by remote_control.o and remote_control.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____RRX multiply defined (by remote_control.o and remote_control.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REV16j multiply defined (by ball.o and ball.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REVSHs multiply defined (by ball.o and ball.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z5__RRXj multiply defined (by ball.o and ball.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REV16j multiply defined (by shoot.o and shoot.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z5__RRXj multiply defined (by shoot.o and shoot.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REV16 multiply defined (by inittask.o and inittask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REVSH multiply defined (by inittask.o and inittask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____RRX multiply defined (by inittask.o and inittask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REV16j multiply defined (by balltask.o and balltask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REVSHs multiply defined (by balltask.o and balltask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z5__RRXj multiply defined (by balltask.o and balltask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REV16j multiply defined (by encodecan.o and encodecan.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REVSHs multiply defined (by encodecan.o and encodecan.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z5__RRXj multiply defined (by encodecan.o and encodecan.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REV16j multiply defined (by nuctask.o and nuctask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REVSHs multiply defined (by nuctask.o and nuctask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z5__RRXj multiply defined (by nuctask.o and nuctask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REV16j multiply defined (by shoottask.o and shoottask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REVSHs multiply defined (by shoottask.o and shoottask.o).
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R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z5__RRXj multiply defined (by shoottask.o and shoottask.o).
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Not enough information to list image symbols.
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Not enough information to list load addresses in the image map.
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Finished: 2 information, 0 warning and 30 error messages.
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"R1\R1.axf" - 30 Error(s), 0 Warning(s).
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Target not created.
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Build Time Elapsed: 00:00:02
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Program Size: Code=31388 RO-data=1832 RW-data=284 ZI-data=32260
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FromELF: creating hex file...
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"R1\R1.axf" - 0 Error(s), 0 Warning(s).
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Build Time Elapsed: 00:00:05
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2
MDK-ARM/.vscode/uv4.log.lock
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2
MDK-ARM/.vscode/uv4.log.lock
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@ -1 +1 @@
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2025/7/10 17:27:12
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2025/7/11 5:53:28
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@ -153,52 +153,34 @@
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<Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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<Breakpoint>
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>89</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>0</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>rc_ctrl,0x0A</ItemText>
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<ItemText>shoot,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>shoot,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>ball,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>nucbuf,0x10</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>drop_message,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd_fromnuc</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>a,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>and1,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>test_distance</ItemText>
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<ItemText>ball</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow4>
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@ -1091,7 +1073,7 @@
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<Group>
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<GroupName>User/task</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
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volatile uint32_t drop_message = 0;
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uint8_t nucbuf[10];
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uint8_t nucbuf[18];
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uint8_t packet[32]; // 假设最大数据包长度为 32 字节
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static void NUC_CBLTCallback(void)
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@ -150,18 +150,18 @@ int8_t NUC_RawParse(NUC_t *n) {
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else
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{
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if (nucbuf[9] != TAIL) goto error;
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if (nucbuf[17] != TAIL) goto error;
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instance.data[3] = nucbuf[4];
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instance.data[2] = nucbuf[3];
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instance.data[1] = nucbuf[2];
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instance.data[0] = nucbuf[1];
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instance.data[3] = nucbuf[8];
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instance.data[2] = nucbuf[7];
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instance.data[1] = nucbuf[6];
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instance.data[0] = nucbuf[5];
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n->vision.x = instance.x[0];
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instance.data[7] = nucbuf[8];
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instance.data[6] = nucbuf[7];
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instance.data[5] = nucbuf[6];
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instance.data[4] = nucbuf[5];
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instance.data[7] = nucbuf[16];
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instance.data[6] = nucbuf[15];
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instance.data[5] = nucbuf[14];
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instance.data[4] = nucbuf[13];
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n->vision.y = instance.x[1];
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}
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@ -15,6 +15,7 @@ extern int ball_exit;
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#define I_ANGLE 49
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#define O_ANGLE 85
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#define WAIT_POS 75
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#define HANGDING_POS 89
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// PE11 气缸git stash apply
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@ -105,7 +106,7 @@ void Ball::Move_Extend()
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}
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if (extern_key == OUT)
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{
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xiaomi.position = O_ANGLE;
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xiaomi.position = HANGDING_POS;
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}
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}
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@ -38,8 +38,8 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
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#define WAIT_POS -170
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#define CHANEGE_POS -205
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#define GO_ERROR 1.0f
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#define Tigger_DO 0
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#define Tigger_ZERO 125
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#define Tigger_DO -10
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#define Tigger_ZERO 115
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#define Tigger_ERROR 3
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float knob_increment;
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@ -86,20 +86,20 @@ void Shoot::trigger_control()
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CAN_cmd_200(result, 0, 0, 0, &hcan1);
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}
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// float shoot_fitting(float x)
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// {
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// return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f;
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// }
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float shoot_fitting(float x)
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{
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return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
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}
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// float shoot_fitting(float x)
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// {
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// return 1.4255807f * x * x + 12.138447f * x + -136.35306f;
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// }
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float pass_fitting(float x)
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{
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return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f -2.0f;
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return 0.36807548f * x * x + 25.002169f * x + -199.2727f;
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}
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void Shoot::distanceGet(const NUC_t &nuc_v)
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@ -231,8 +231,7 @@ void Shoot::rc_mode()
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#if ONE_CONTROL == 0
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//float and1=-1.0f;
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float and1=0;
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float and1=2.0f;
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void Shoot::shoot_control()
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{
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@ -243,7 +242,8 @@ void Shoot::shoot_control()
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{
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case VSION:
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//fire_pos = distance; // 视觉拟合的力
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fire_pos =shoot_fitting(test_distance)+2.0f+and1;
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// fire_pos =shoot_fitting(distance)+and1;
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fire_pos =shoot_fitting(distance)+2.0f-2.3f;
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//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
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switch (rc_key)
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