RoboDuoduo/R1_up
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加了防守键清空所有

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This commit is contained in:
ws 2025-07-09 07:20:11 +08:00
parent a939a4d8f3
commit d515fad93b
8 changed files with 32 additions and 23 deletions
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2
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -120,3 +120,5 @@
[info] Log at : 2025/7/8|18:00:22|GMT+0800
[info] Log at : 2025/7/8|20:39:07|GMT+0800

14
MDK-ARM/.vscode/uv4.log vendored
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@ -1,18 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling userTask.c...
compiling remote_control.c...
compiling initTask.c...
compiling encodeCan.cpp...
compiling main.c...
compiling shootTask.cpp...
compiling nucTask.cpp...
compiling djiMotor.c...
compiling ballTask.cpp...
compiling shoot.cpp...
compiling ball.cpp...
linking...
Program Size: Code=32016 RO-data=1832 RW-data=276 ZI-data=32260
Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:10
Build Time Elapsed: 00:00:05

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/8 19:42:52
2025/7/9 7:17:12

5
MDK-ARM/R1.uvoptx
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@ -185,6 +185,11 @@
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
<Mm>

2
User/bsp/TopDefine.h
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@ -16,7 +16,7 @@
#endif
#define ONE_CONTROL 0
#define ONE_CONTROL 1
//是否使用大疆DT7遥控器
#ifndef DT7

2
User/device/nuc.c
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@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
volatile uint32_t drop_message = 0;
uint8_t nucbuf[20];
uint8_t nucbuf[10];
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
static void NUC_CBLTCallback(void)

1
User/module/ball.cpp
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@ -256,6 +256,7 @@ void Ball::ball_control()
osThreadFlagsClear(READY_TELL); // 蓄力标志位
osThreadFlagsClear(HANDING_FINISH);
currentState1 = BALL_IDLE;
Send_control();
}

27
User/module/shoot.cpp
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@ -35,7 +35,8 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
#define INIT_POS -135
#define TOP_POS -211
#define BOTTOM_POS 0
#define WAIT_POS -150
#define WAIT_POS -170
#define CHANEGE_POS -205
#define GO_ERROR 1.0f
#define Tigger_DO 0
#define Tigger_ZERO 138
@ -92,7 +93,7 @@ void Shoot::trigger_control()
float shoot_fitting(float x)
{
return 0.67076341f * x * x + 20.212423f * x + -154.53966f;
return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
}
@ -240,7 +241,7 @@ void Shoot::shoot_control()
{
case VSION:
//fire_pos = distance; // 视觉拟合的力
fire_pos =shoot_fitting(distance);
fire_pos =shoot_fitting(distance)+2.0f;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@ -282,8 +283,8 @@ void Shoot::shoot_control()
break;
case PASS:
// 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
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
fire_pos =pass_fitting(pass_distance)+2.0f;
switch (rc_key)
{
case DOWN1:
@ -420,7 +421,7 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
fire_pos = shoot_fitting(distance); // 视觉拟合的力
fire_pos = shoot_fitting(4); // 视觉拟合的力
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@ -534,20 +535,27 @@ void Shoot::shoot_control()
}
else if (ready_key == DEFENSE)
{
control_pos = WAIT_POS; //-209
go1.Pos = control_pos;
limit_speed = TO_TOP; // 快速上去
if(feedback.fd_gopos < -149)
{
t_posSet = Tigger_ZERO; // 扳机松开
osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
//osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
// 只在READY_TELL未置位时发送，防止重复
if ((osThreadFlagsGet() & DEF_READY) == 0)
{
osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
}
}
osThreadFlagsClear(EXTEND_OK);
osThreadFlagsClear(READY_TELL); // 蓄力标志位
osThreadFlagsClear(HANDING_FINISH);
currentState = SHOOT_IDLE;
}
else
@ -563,6 +571,7 @@ void Shoot::shoot_control()
trigger_control();
}
int a=0;
// 配合运球到发射
void Shoot ::ball_receive()
{
@ -577,10 +586,12 @@ void Shoot ::ball_receive()
{
control_pos = TOP_POS;
limit_speed = TO_TOP; // 快速上去
a++;
}
if (feedback.fd_gopos < -209)
{
a++;
currentState = GO_TOP; // 切换到准备发射状态
}
}