攻守方模式

MDK-ARM/.vscode/uv4.log

@@ -1,8 +1,10 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
+compiling shootTask.cpp...
+compiling shoot.cpp...
 compiling ball.cpp...
 linking...
-Program Size: Code=31076 RO-data=1832 RW-data=268 ZI-data=32252  
+Program Size: Code=31644 RO-data=1832 RW-data=268 ZI-data=32252  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
 Build Time Elapsed:  00:00:06

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

@@ -1 +1 @@
-2025/6/25 21:22:14
+2025/6/26 3:22:31

MDK-ARM/R1.uvoptx

@@ -175,7 +175,25 @@
           <WinNumber>1</WinNumber>
           <ItemText>ball_exit,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nucbuf</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nuc_v</ItemText>
+        </Ww>
       </WatchWindow1>
+      <MemoryWindow4>
+        <Mm>
+          <WinNumber>4</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>nucbuf</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -934,7 +952,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1026,7 +1044,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1058,7 +1076,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/README.md

@@ -29,9 +29,15 @@ r1上层
 + 👆 传球档           👆  配合档  
 + 中  初始档           中  初始档
 + 👇  发射档          👇  运球档
-+ 起步遥控档我直接蓄力准备接球
++ 起步遥控档我直接蓄力准备接球  + 可多次的运球
-  + 可多次的运球
   + 缩回转移球
   + 蓄力到位,收到掉落信号和已伸出信号
   + 根据视觉拟合信息的动态调整
   + 拨置👇发射清空掉落信号
+
++ 用一个攻守方档
+  + 攻方时拨下立马蓄力并伸出(可小角度)
+  + 守方时不动并保持缩回
+  + 👇  运球档正常运球
+  + 中  初始档直接缩回
+  + 👆 配合档 完成配合并伸出才能发射

User/bsp/TopDefine.h

@@ -16,7 +16,11 @@
 #endif
 
 
-#define ONE_CONTROL 0
+#define ONE_CONTROL 1
+
+
+
+
 //是否使用大疆DT7遥控器
 #ifndef DT7
 #define DT7 0
@@ -33,9 +37,10 @@
 //运球
 #define BALL_DOWN	(1<<1)
 
-//运球结束 
+//可以蓄力标志
-//#define PREPARE (1<<0)
+#define READY_TELL (1<<0)
-
+//运球完成
+#define HANDING_FINISH (1<<2)
 //伸缩结束
 #define EXTEND_OK	(1<<3)
 

User/module/ball.cpp

@@ -12,6 +12,7 @@ extern int ball_exit;
 //伸缩
 #define I_ANGLE 147
 #define O_ANGLE 187
+#define WAIT_POS 165
 
 //PE11 气缸
 
@@ -72,6 +73,14 @@ void Ball::rc_mode()
       extern_key=OUT;  
     }
 
+    if(rc_ctrl.sw[5]==1800)
+    {
+       ready_key=SIDE; 
+    }
+    if(rc_ctrl.sw[5]==200)
+    {
+         ready_key=0; //默认不准备
+    }
 }
 
 void Ball::Send_control()
@@ -222,7 +231,10 @@ void Ball::ball_control()
     hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
     ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
 
-    switch (rc_key){
+    //进攻
+    if(ready_key==SIDE)
+    {
+            switch (rc_key){
         case MIDDLE2:
          Idle_control();
         break;
@@ -236,6 +248,17 @@ void Ball::ball_control()
         break;
 
     }
+    }
+    //防守
+    else
+    {
+      xiaomi.position = I_ANGLE; // 保持收回
+      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 
+
+    }
+    
+
 
     Send_control(); 
 
@@ -260,7 +283,7 @@ void Ball::ballDown(void)
             HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
             HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
             // 检测到球自由下落一次就切换状态
-            if(ball_state == 0)
+            if(ball_state == 1)
             {
                 currentState1 = EXTEND_OUT;
             }
@@ -291,9 +314,22 @@ 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(PREPARE);
+    
     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)
+        {
+          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
     {
@@ -322,13 +358,14 @@ void Ball::ballHadling(void)
     switch (currentState1)
     {
     case BALL_IDLE:
-       HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); //确保爪气缸关闭 
+        if (rc_key == DOWN2)
-       HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 
+        {   
-        if (rc_key == DOWN2) // 检测按键是否被按下
+            xiaomi.position = O_ANGLE;//外伸       
-        {
+            if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
-          
+            {
-         
+                 currentState1 = BALL_FORWARD; 
-            currentState1 = BALL_FORWARD; 
+            }
+           
         }
         break;
 
@@ -369,13 +406,9 @@ void Ball::ballHadling(void)
 
     case BALL_FINISH:
         osDelay(50); // 延时 50ms
+        //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
-
-
-
-        //currentState1 = BALL_IDLE; // 回到空闲状态
-
         break;
 
     default:
@@ -386,6 +419,6 @@ void Ball::ballHadling(void)
     
  }   
 
-
+ 
 #endif
 

User/module/ball.hpp

@@ -31,14 +31,6 @@ typedef enum {
 
 } BallState_t;
 
-typedef enum
-{
-    MOTOR_1 = 0,
-    MOTOR_2 = 1,
-    MOTOR_3 = 2,
-    MOTOR_DOWN = 3,
-    MOTOR_NUM
-}motorhangd_e;
 
 typedef enum
 {
@@ -46,7 +38,8 @@ typedef enum
     MIDDLE2,
     DOWN2,
     IN,
-    OUT
+    OUT,
+    SIDE
 }ball_rc_mode;
 
 // 定义光电传感器检测宏
@@ -78,6 +71,7 @@ public:
 //==========================公共变量==========================//
     int16_t rc_key; //遥控器按键
     int16_t extern_key;
+    int16_t ready_key; //准备按键
     //用于传接球,运球后通知
     volatile BallState_t ballStatus;//是否有球
     volatile uint32_t hand_thread;//接收传回的线程通知

User/module/shoot.cpp

@@ -156,11 +156,11 @@ void Shoot::rc_mode()
     // }
     if(rc_ctrl.sw[5]==1800)
     {
-       ready_key=PREPARE; 
+       ready_key=OFFENSIVE; 
     }
-    else
+    else if(rc_ctrl.sw[5]==200)
     {
-         ready_key=0; //默认不准备
+         ready_key=DEFENSE; 
     }
 
     // //旋钮增量
@@ -370,6 +370,7 @@ feedback.fd_tpos = trigger_Motor->total_angle;
 
 shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位
 
+if(ready_key==OFFENSIVE){
 switch (mode_key)
     {
     case VSION:
@@ -424,9 +425,15 @@ break;
              BSP_Buzzer_Set(1,5000);
             }
         }
+        if(shoot_thread & READY_TELL) // 如果收到等待配合的通知
+        {
+           ball_receive(); // 执行接收球的操作
+        }
         else
         {
-          ball_receive(); // 执行接收球的操作
+          go1.Pos = TOP_POS-3.0f; //-208
+          limit_speed=TO_TOP;//快速上去
+          t_posSet = Tigger_ZERO; // 扳机松开
         }
         break;
 
@@ -455,6 +462,14 @@ break;
         break;
     }     
 
+}
+else if(ready_key==DEFENSE)//攻守档总控
+{
+          go1.Pos = TOP_POS-3.0f; //-208
+          limit_speed=TO_TOP;//快速上去
+          t_posSet = Tigger_ZERO; // 扳机松开
+
+}
 
     abs_limit_min_max_fp(&go1.Pos ,-210.0f,2.0f);
     // 发送数据到蓄力电机
@@ -470,18 +485,16 @@ void Shoot ::ball_receive()
     switch (currentState) 
     {
         case SHOOT_IDLE:
-       //底盘手动档直接蓄力 
-         if(ready_key == PREPARE){
             // 初始状态：钩子移动到顶部，钩住拉簧
             control_pos = TOP_POS;   
             limit_speed=TO_TOP;//快速上去      
             t_posSet = Tigger_ZERO;
-            if(feedback.fd_gopos >= TOP_POS - 0.5f && feedback.fd_gopos <= TOP_POS + 0.5f)
+            if(feedback.fd_gopos <-209)
             {
                 currentState = GO_TOP; // 切换到准备发射状态
             }
-            }
             break;
+
        case GO_TOP:
             t_posSet = Tigger_DO;
             if (trigger_Motor->total_angle<Tigger_DO+1.0f && trigger_Motor->total_angle>Tigger_DO-1.0f) 
@@ -496,7 +509,7 @@ void Shoot ::ball_receive()
             if(feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
             {
 
-                //osThreadFlagsClear(PREPARE); // 清除任务通知标志位
+                osThreadFlagsClear(READY_TELL); // 清除任务通知标志位
             }
             
             break; 
@@ -514,14 +527,14 @@ void Shoot::RemoveError() {
         t_posSet = Tigger_ZERO; 
         is_hooked = false; 
     }
-    if(trigger_Motor->total_angle>=Tigger_ZERO-10)
+    if(trigger_Motor->total_angle>=Tigger_ZERO-5)
     {
         //认为完全松开
          control_pos=INIT_POS;
          BSP_Buzzer_Stop();
 
     }
-   
+     limit_speed=3.0f;//慢慢送上去
      go1.Pos = control_pos;
 }
 

User/module/shoot.hpp

@@ -40,7 +40,8 @@ typedef enum
     WAIT,
     TEST,
     VSION,
-    PREPARE
+    OFFENSIVE,
+    DEFENSE
 }rc_mode;
 
 // 光电传感器读取宏

User/task/ballTask.cpp

@@ -22,8 +22,8 @@ void FunctionBall(void *argument)
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
 	
-//		osDelay(6000);//等待极致控制板启动
+		osDelay(6000);//等待极致控制板启动
-//    XiaomiWait_init(1,&hcan2); //小米电机初始化
+    XiaomiWait_init(1,&hcan2); //小米电机初始化
     
     uint32_t tick = osKernelGetTickCount();