From e17113c6798bd312c8b62e0eabc3aa2ee38f7f14 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Sun, 6 Jul 2025 23:56:15 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A6=81=E8=BF=90=E4=B8=A4=E6=AC=A1=E7=90=83?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/.vscode/keil-assistant.log |  2 +
 MDK-ARM/.vscode/uv4.log            | 12 +++---
 MDK-ARM/.vscode/uv4.log.lock       |  2 +-
 User/module/ball.cpp               | 63 ++++++++++++++++++++++++++++--
 4 files changed, 68 insertions(+), 11 deletions(-)

diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 6298a8b..faeaec9 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -106,3 +106,5 @@
 
 [info] Log at : 2025/7/6|22:02:13|GMT+0800
 
+[info] Log at : 2025/7/6|23:12:04|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 2fea10e..0dfe75c 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -3,16 +3,16 @@ Build target 'R1'
 compiling userTask.c...
 compiling remote_control.c...
 compiling initTask.c...
-compiling main.c...
-compiling djiMotor.c...
 compiling nucTask.cpp...
-compiling shoot.cpp...
 compiling encodeCan.cpp...
-compiling ball.cpp...
-compiling shootTask.cpp...
 compiling ballTask.cpp...
+compiling djiMotor.c...
+compiling main.c...
+compiling shootTask.cpp...
+compiling shoot.cpp...
+compiling ball.cpp...
 linking...
-Program Size: Code=31240 RO-data=1832 RW-data=268 ZI-data=32220  
+Program Size: Code=32720 RO-data=1832 RW-data=268 ZI-data=32220  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
 Build Time Elapsed:  00:00:09
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index ce12a24..e34152f 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/6 22:22:20
\ No newline at end of file
+2025/7/6 23:29:24
\ No newline at end of file
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index d447c12..7577500 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -254,6 +254,7 @@ void Ball::ball_control()
 
 void Ball::ballDown(void)
 {
+     osThreadFlagsClear(HANDING_FINISH);
     switch (currentState1)
     {
     case BALL_IDLE:
@@ -297,6 +298,48 @@ void Ball::ballDown(void)
     }
 }
 
+// void Ball::Idle_control()
+// {
+//     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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
+
+//     osThreadFlagsClear(EXTEND_OK);
+
+//     if (ready_key == SIDE) // 检测是否准备好
+//     {
+//         xiaomi.position = WAIT_POS;
+//         if (feedback->position_deg >= WAIT_POS - 3)
+//         {
+//             // 只在READY_TELL未置位时发送，防止重复
+//             if ((osThreadFlagsGet() & READY_TELL) == 0)
+//             {
+//                 osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
+//             }
+//         }
+//     }
+//     else
+//     {
+//         xiaomi.position = I_ANGLE; // 默认回到收回位置
+//     }
+
+//     // 拨杆回到中间挡位时，回位并重置状态机
+//     if (currentState1 == EXTEND_FINISH) // 转移后
+//     {
+//         xiaomi.position = I_ANGLE;
+//         currentState1 = BALL_IDLE;
+//     }
+//     if (currentState1 == BALL_FINISH) // 运球完成
+//     {
+//         xiaomi.position = O_ANGLE;
+//         currentState1 = BALL_IDLE;
+//     }
+//     else
+//     {
+//         currentState1 = BALL_IDLE;
+//     }
+//     // xiaomi.position = I_ANGLE;
+// }
+
 void Ball::Idle_control()
 {
     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
@@ -306,15 +349,25 @@ void Ball::Idle_control()
 
     if (ready_key == SIDE) // 检测是否准备好
     {
-        xiaomi.position = WAIT_POS;
-        if (feedback->position_deg >= WAIT_POS - 3)
+        if(hand_thread & HANDING_FINISH)
         {
+            xiaomi.position=O_ANGLE;//继续保持外伸
+
+        }
+        else
+        {
+          xiaomi.position = WAIT_POS;
+          if (feedback->position_deg >= WAIT_POS - 3)
+         {
             // 只在READY_TELL未置位时发送，防止重复
             if ((osThreadFlagsGet() & READY_TELL) == 0)
             {
                 osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
             }
+         }
         }
+
+
     }
     else
     {
@@ -336,9 +389,11 @@ void Ball::Idle_control()
     {
         currentState1 = BALL_IDLE;
     }
-    // xiaomi.position = I_ANGLE;
+
 }
 
+
+
 int ball_state = 0;
 int last_ball_state = 0; // 上一次的光电状态
 
@@ -396,7 +451,7 @@ void Ball::ballHadling(void)
 
     case BALL_FINISH:
         osDelay(50); // 延时 50ms
-        // osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
+        osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
         break;