加了防守键清空所有

MDK-ARM/.vscode/keil-assistant.log

@@ -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
+

MDK-ARM/.vscode/uv4.log

@@ -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

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

@@ -1 +1 @@
-2025/7/8 19:42:52
+2025/7/9 7:17:12

MDK-ARM/R1.uvoptx

@@ -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>

User/bsp/TopDefine.h

@@ -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

User/device/nuc.c

@@ -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)

User/module/ball.cpp

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

User/module/shoot.cpp

@@ -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);
+
+            // 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
             }
         }