RoboDuoduo/R1_up
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要运两次球

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This commit is contained in:
ws 2025-07-06 23:56:15 +08:00
parent 7ce1231e9a
commit e17113c679
4 changed files with 68 additions and 11 deletions
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2
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -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

12
MDK-ARM/.vscode/uv4.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/7/6 22:22:20
2025/7/6 23:29:24

63
User/module/ball.cpp
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@ -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;