From c76050fb13cd0d794d4495d74c78970fab698460 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Fri, 11 Jul 2025 17:44:46 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8A=BD=E8=B1=A1=E6=8B=9F=E5=90=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 ++ MDK-ARM/.vscode/uv4.log | 41 +++----------------- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 60 +++++++++++------------------- User/device/nuc.c | 20 +++++----- User/module/ball.cpp | 3 +- User/module/shoot.cpp | 22 +++++------ 7 files changed, 54 insertions(+), 98 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index de28053..9a72189 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -138,3 +138,7 @@ [info] Log at : 2025/7/10|22:12:10|GMT+0800 +[info] Log at : 2025/7/11|10:11:25|GMT+0800 + +[info] Log at : 2025/7/11|17:39:11|GMT+0800 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index d3613a4..4ae2bc7 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,39 +1,8 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1' +compiling shoot.cpp... linking... -R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REV16 multiply defined (by main.o and main.o). -R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REVSH multiply defined (by main.o and main.o). -R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____RRX multiply defined (by main.o and main.o). -R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REVSHs multiply defined (by shoot.o and shoot.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REV16 multiply defined (by djimotor.o and djimotor.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REVSH multiply defined (by djimotor.o and djimotor.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____RRX multiply defined (by djimotor.o and djimotor.o). -R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REV16 multiply defined (by remote_control.o and remote_control.o). -R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REVSH multiply defined (by remote_control.o and remote_control.o). -R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____RRX multiply defined (by remote_control.o and remote_control.o). -R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REV16j multiply defined (by ball.o and ball.o). -R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REVSHs multiply defined (by ball.o and ball.o). -R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z5__RRXj multiply defined (by ball.o and ball.o). -R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REV16j multiply defined (by shoot.o and shoot.o). -R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z5__RRXj multiply defined (by shoot.o and shoot.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REV16 multiply defined (by inittask.o and inittask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REVSH multiply defined (by inittask.o and inittask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____RRX multiply defined (by inittask.o and inittask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REV16j multiply defined (by balltask.o and balltask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REVSHs multiply defined (by balltask.o and balltask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z5__RRXj multiply defined (by balltask.o and balltask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REV16j multiply defined (by encodecan.o and encodecan.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REVSHs multiply defined (by encodecan.o and encodecan.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z5__RRXj multiply defined (by encodecan.o and encodecan.o). -R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REV16j multiply defined (by nuctask.o and nuctask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REVSHs multiply defined (by nuctask.o and nuctask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z5__RRXj multiply defined (by nuctask.o and nuctask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REV16j multiply defined (by shoottask.o and shoottask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REVSHs multiply defined (by shoottask.o and shoottask.o). -R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z5__RRXj multiply defined (by shoottask.o and shoottask.o). -Not enough information to list image symbols. -Not enough information to list load addresses in the image map. -Finished: 2 information, 0 warning and 30 error messages. -"R1\R1.axf" - 30 Error(s), 0 Warning(s). -Target not created. -Build Time Elapsed: 00:00:02 +Program Size: Code=31388 RO-data=1832 RW-data=284 ZI-data=32260 +FromELF: creating hex file... +"R1\R1.axf" - 0 Error(s), 0 Warning(s). +Build Time Elapsed: 00:00:05 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index e3043fd..bfe56a6 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/7/10 17:27:12 \ No newline at end of file +2025/7/11 5:53:28 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 533a043..d903d28 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -153,52 +153,34 @@ -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) - + + + 0 + 0 + 89 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + ../Core/Src/main.c + + + + 0 1 - rc_ctrl,0x0A + shoot,0x0A 1 1 - shoot,0x0A - - - 2 - 1 - ball,0x0A - - - 3 - 1 - nucbuf,0x10 - - - 4 - 1 - drop_message,0x0A - - - 5 - 1 - cmd_fromnuc - - - 6 - 1 - a,0x0A - - - 7 - 1 - and1,0x0A - - - 8 - 1 - test_distance + ball @@ -1091,7 +1073,7 @@ User/task - 0 + 1 0 0 0 diff --git a/User/device/nuc.c b/User/device/nuc.c index 30d580e..db4abe5 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,7 @@ static osThreadId_t thread_alert; volatile uint32_t drop_message = 0; -uint8_t nucbuf[10]; +uint8_t nucbuf[18]; uint8_t packet[32]; // 假设最大数据包长度为 32 字节 static void NUC_CBLTCallback(void) @@ -150,18 +150,18 @@ int8_t NUC_RawParse(NUC_t *n) { else { - if (nucbuf[9] != TAIL) goto error; + if (nucbuf[17] != TAIL) goto error; - instance.data[3] = nucbuf[4]; - instance.data[2] = nucbuf[3]; - instance.data[1] = nucbuf[2]; - instance.data[0] = nucbuf[1]; + instance.data[3] = nucbuf[8]; + instance.data[2] = nucbuf[7]; + instance.data[1] = nucbuf[6]; + instance.data[0] = nucbuf[5]; n->vision.x = instance.x[0]; - instance.data[7] = nucbuf[8]; - instance.data[6] = nucbuf[7]; - instance.data[5] = nucbuf[6]; - instance.data[4] = nucbuf[5]; + instance.data[7] = nucbuf[16]; + instance.data[6] = nucbuf[15]; + instance.data[5] = nucbuf[14]; + instance.data[4] = nucbuf[13]; n->vision.y = instance.x[1]; } diff --git a/User/module/ball.cpp b/User/module/ball.cpp index e27b6db..5e56951 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -15,6 +15,7 @@ extern int ball_exit; #define I_ANGLE 49 #define O_ANGLE 85 #define WAIT_POS 75 +#define HANGDING_POS 89 // PE11 气缸git stash apply @@ -105,7 +106,7 @@ void Ball::Move_Extend() } if (extern_key == OUT) { - xiaomi.position = O_ANGLE; + xiaomi.position = HANGDING_POS; } } diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index e01e204..2194794 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -38,8 +38,8 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0}; #define WAIT_POS -170 #define CHANEGE_POS -205 #define GO_ERROR 1.0f -#define Tigger_DO 0 -#define Tigger_ZERO 125 +#define Tigger_DO -10 +#define Tigger_ZERO 115 #define Tigger_ERROR 3 float knob_increment; @@ -86,20 +86,20 @@ void Shoot::trigger_control() CAN_cmd_200(result, 0, 0, 0, &hcan1); } -// float shoot_fitting(float x) -// { -// return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f; -// } - float shoot_fitting(float x) { 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 pass_fitting(float x) { - return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f -2.0f; + return 0.36807548f * x * x + 25.002169f * x + -199.2727f; } void Shoot::distanceGet(const NUC_t &nuc_v) @@ -231,8 +231,7 @@ void Shoot::rc_mode() #if ONE_CONTROL == 0 -//float and1=-1.0f; -float and1=0; +float and1=2.0f; void Shoot::shoot_control() { @@ -243,7 +242,8 @@ void Shoot::shoot_control() { case VSION: //fire_pos = distance; // 视觉拟合的力 - fire_pos =shoot_fitting(test_distance)+2.0f+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)