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攻守方模式

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ws 2025-06-26 03:22:57 +08:00
parent bffdb230c6
commit e420cea621
10 changed files with 122 additions and 50 deletions
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4
MDK-ARM/.vscode/uv4.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/25 21:22:14
2025/6/26 3:22:31

24
MDK-ARM/R1.uvoptx
View File

@ -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>

10
MDK-ARM/README.md
View File

@ -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
+ 可多次的运球
+ 起步遥控档我直接蓄力准备接球 + 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

13
User/bsp/TopDefine.h
View File

@ -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
//#define PREPARE (1<<0)
//可以蓄力标志
#define READY_TELL (1<<0)
//运球完成
#define HANDING_FINISH (1<<2)
//伸缩结束
#define EXTEND_OK (1<<3)

65
User/module/ball.cpp
View File

@ -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
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
{
currentState1 = BALL_FORWARD;
if (rc_key == DOWN2)
{
xiaomi.position = O_ANGLE;//外伸
if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
{
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

12
User/module/ball.hpp
View File

@ -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

35
User/module/shoot.cpp
View File

@ -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;
}

3
User/module/shoot.hpp
View File

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

4
User/task/ballTask.cpp
View File

@ -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
// XiaomiWait_init(1,&hcan2); //小米电机初始化
osDelay(6000);//等待极致控制板启动
XiaomiWait_init(1,&hcan2); //小米电机初始化
uint32_t tick = osKernelGetTickCount();