运球赛已测，这个进攻想法不能用

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

@@ -60,3 +60,9 @@
 
 [info] Log at : 2025/6/24|12:24:51|GMT+0800
 
+[info] Log at : 2025/6/24|19:22:03|GMT+0800
+
+[info] Log at : 2025/6/24|21:35:17|GMT+0800
+
+[info] Log at : 2025/6/25|09:51:44|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,8 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling ball.cpp...
+compiling shoot.cpp...
 linking...
-Program Size: Code=30768 RO-data=1832 RW-data=260 ZI-data=32244  
+Program Size: Code=31344 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:  00:00:05

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

@@ -1 +1 @@
-2025/6/24 2:11:53
+2025/6/25 9:57:28

MDK-ARM/R1.uvoptx

@@ -158,7 +158,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>ball,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -168,17 +168,27 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball,0x0A</ItemText>
+          <ItemText>triggerCount,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>aaaa,0x0A</ItemText>
+          <ItemText>abc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>aaaxxx,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nucbuf</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nuc_v</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -939,7 +949,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1031,7 +1041,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1063,7 +1073,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/README.md

@@ -21,16 +21,17 @@ r1上层
 
 ## 待解决
 
-+ 用了将运球和伸缩绑定到一起
++ 用了将运球和伸缩绑定到一起  √
-+ 串口收数加个滤波
++ 串口收数加个滤波  √
 
 ## 思路
 
 + 👆 传球档           👆  配合档  
 + 中  初始档           中  初始档
 + 👇  发射档          👇  运球档
-+ 我现在已经收到了运球完成的信号
++ 起步遥控档我直接蓄力准备接球
-  + 发射就应该去蓄力接球了
+  + 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 (发送归位信号?)
+  + 拨置👇发射清空掉落信号

User/bsp/TopDefine.h

@@ -16,9 +16,7 @@
 #endif
 
 
-#define TESTUP 1
+#define ONE_CONTROL 1
-#define ONE_CONTROL 0
-
 //是否使用大疆DT7遥控器
 #ifndef DT7
 #define DT7 0
@@ -36,7 +34,7 @@
 #define BALL_DOWN	(1<<1)
 
 //运球结束 
-#define PREPARE (1<<0)
+//#define PREPARE (1<<0)
 
 //伸缩结束
 #define EXTEND_OK	(1<<3)

User/module/ball.cpp

@@ -81,7 +81,7 @@ void Ball::Send_control()
 
 }
 
-#if TESTUP
+#if ONE_CONTROL==0
 
 void Ball::ballDown(void)
 {
@@ -151,6 +151,7 @@ void Ball::ballHadling(void)
        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
         {
+          
             triggerCount = 0; // 重置触发计数
             currentState1 = BALL_FORWARD; 
         }
@@ -179,6 +180,7 @@ void Ball::ballHadling(void)
         break;
 
         case BALL_FLAG:
+        osDelay(10); // 延时 50ms
         if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
         {
             triggerCount++; // 增加触发计数
@@ -190,7 +192,7 @@ void Ball::ballHadling(void)
     case BALL_CLOSE:
         if (triggerCount == 2) // 确保是第二次触发
         {
-            //osDelay(5); 
+            osDelay(50); 
             HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
             currentState1 = BALL_FINISH; // 切换到反转状态
         }
@@ -200,6 +202,7 @@ void Ball::ballHadling(void)
         osDelay(50); // 延时 50ms
         HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
+
         triggerCount = 0; // 重置触发计数
 
         //currentState1 = BALL_IDLE; // 回到空闲状态
@@ -213,7 +216,6 @@ void Ball::ballHadling(void)
 
     
 }   
-
 #endif
 
 #if ONE_CONTROL
@@ -233,7 +235,6 @@ void Ball::ball_control()
         break;
 
        case DOWN2: 
-         osThreadFlagsSet(task_struct.thread.shoot, PREPARE); // 通知发射任务快点去蓄力
          ballHadling();
         break;
 
@@ -297,8 +298,22 @@ void Ball::Idle_control()
     osThreadFlagsClear(EXTEND_OK);
 
     // 拨杆回到中间挡位时，回位并重置状态机
-    xiaomi.position = I_ANGLE;
+    if(currentState1==EXTEND_FINISH)//转移后
-    currentState1 = BALL_IDLE;
+    {
+         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;
+   
 }
 
  int ball_state = 0;

User/module/shoot.cpp

@@ -28,7 +28,7 @@ const fp32 Shoot:: M2006_angle_PID[3] = { 15, 0.1, 0};
 #define TO_BOTTOM 5.0f
 
 #define INIT_POS -130
-#define TOP_POS -210
+#define TOP_POS -211
 #define BOTTOM_POS 0
 #define GO_ERROR 1.0f 
 #define Tigger_DO 0  
@@ -57,6 +57,7 @@ Shoot::Shoot()
     go1.W = 0,
     go1.T = 0,
 
+    limit_speed=TO_TOP;//快速上去
     fire_pos = INIT_POS; // 发射位置
 
     BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART1_RxCompleteCallback);//注册串口回调函数，bsp层
@@ -124,6 +125,7 @@ int Shoot::GO_SendData(float pos,float limit)
 // F键 sw[0]👆 1800    👇200 
 // E键 sw[1]  👆 200 shoot  中 1000 stop  sw[2]200  sw[2]👇1800 
 // G键 sw[6]👆 1800  中 1000 👇200
+// B键 sw[3]👆 200 开 中 1000  👇1800 关
 //左旋 sw[7] 200 --1800
 void Shoot::rc_mode()
 {
@@ -147,6 +149,15 @@ void Shoot::rc_mode()
     {
         mode_key=VSION;  
     }
+    if(rc_ctrl.sw[3]==1800)
+    {
+       ready_key=PREPARE; 
+    }
+    else
+    {
+         ready_key=0; //默认不准备
+    }
+
 
     // if(rc_ctrl.sw[7]==200)
     // {
@@ -190,7 +201,7 @@ knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min)
 
 
 
-#if TESTUP
+#if ONE_CONTROL==0
 
 void Shoot::shoot_control() {
 
@@ -279,7 +290,7 @@ break;
     	
     abs_limit_min_max_fp(&go1.Pos ,-210.0f,2.0f);
     // 发送数据到蓄力电机
-    GO_SendData(go1.Pos, 5.0f);
+    GO_SendData(go1.Pos,limit_speed);
 
     // 控制扳机电机
     trigger_control();
@@ -292,6 +303,7 @@ void Shoot :: shoot_Current()
         case SHOOT_IDLE:
             // 初始状态：钩子移动到顶部，钩住拉簧
             control_pos = TOP_POS; // 顶部位置
+            limit_speed=TO_TOP;//快速上去 
             go1.Pos = control_pos; 
             t_posSet = Tigger_ZERO; // 扳机松开
             if (feedback.fd_gopos <-209) {
@@ -313,6 +325,7 @@ void Shoot :: shoot_Current()
               if (is_hooked) 
             {
                 go1.Pos = fire_pos; // 下拉到中间挡位位置
+                limit_speed=TO_BOTTOM;//慢速下来
                 if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) {
                   BSP_Buzzer_Start();			
 		          BSP_Buzzer_Set(1,5000);
@@ -331,7 +344,7 @@ void Shoot :: shoot_Current()
 
 void Shoot::RemoveError() {
     currentState = SHOOT_IDLE;
-    control_pos = TOP_POS;
+    control_pos = TOP_POS+1.0f;
     if (feedback.fd_gopos >= control_pos - 0.5f&& feedback.fd_gopos<= control_pos + 0.5f)
     {
         t_posSet = Tigger_ZERO; 
@@ -344,7 +357,7 @@ void Shoot::RemoveError() {
          BSP_Buzzer_Stop();
 
     }
-   
+     limit_speed=3.0f;//慢慢送上去
      go1.Pos = control_pos;
 }
 
@@ -368,13 +381,8 @@ switch (mode_key)
       fire_pos = distance; // 视觉拟合的力
       switch (rc_key) {
        case MIDDLE1:
-
-        if(shoot_thread & PREPARE) // 如果收到放球完成的通知
-        {
             ball_receive(); // 执行接收球的操作
-
+                
-        }
-    
         if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
         {
             go1.Pos = fire_pos; // 设置蓄力电机位置
@@ -411,12 +419,6 @@ break;
     switch (rc_key) {
        case MIDDLE1:
 
-        if(shoot_thread & PREPARE) // 如果收到放球完成的通知
-        {
-            ball_receive(); // 执行接收球的操作
-
-        }
-    
         if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
         {
             fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
@@ -427,6 +429,10 @@ break;
              BSP_Buzzer_Set(1,5000);
             }
         }
+        else
+        {
+          ball_receive(); // 执行接收球的操作
+        }
         break;
 
     case DOWN1:
@@ -469,6 +475,8 @@ 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      
@@ -477,7 +485,7 @@ void Shoot ::ball_receive()
             {
                 currentState = GO_TOP; // 切换到准备发射状态
             }
-            
+            }
             break;
        case GO_TOP:
             t_posSet = Tigger_DO;
@@ -493,7 +501,7 @@ 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(PREPARE); // 清除任务通知标志位
             }
             
             break; 

User/module/shoot.hpp

@@ -39,7 +39,8 @@ typedef enum
     SHOOT,
     WAIT,
     TEST,
-    VSION
+    VSION,
+    PREPARE
 }rc_mode;
 
 // 光电传感器读取宏
@@ -86,6 +87,7 @@ public:
     //==========================公共变量==========================
     int16_t rc_key; //遥控器按键
     int16_t mode_key;
+    int16_t ready_key; 
     int16_t trigger_key;
     ShootState_t currentState; //状态机
 

User/task/userTask.h

@@ -19,7 +19,7 @@ extern "C" {
 #define TASK_FREQ_MONITOR (2u)
 #define TASK_FREQ_CAN (1500u)
 #define TASK_FREQ_AI (500u)
-#define TASK_FREQ_BALL (700u)
+#define TASK_FREQ_BALL (500u)
 
 #define TASK_INIT_DELAY_INFO (500u)
 #define TASK_INIT_DELAY_MONITOR (10)