diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 1a2d8ef..f1eeecc 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -40,3 +40,7 @@ [info] Log at : 2025/6/19|17:34:46|GMT+0800 +[info] Log at : 2025/6/19|20:07:38|GMT+0800 + +[info] Log at : 2025/6/20|09:52:08|GMT+0800 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index f0584ac..e193909 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,4 +1,4 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1' "R1\R1.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:07 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 0c8da1b..90cdfe0 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/6/18 17:18:51 \ No newline at end of file +2025/6/20 9:52:48 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index b25b103..b8f472a 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -1061,7 +1061,7 @@ User/module - 0 + 1 0 0 0 @@ -1084,18 +1084,6 @@ 0 0 0 - ..\User\module\gimbal.cpp - gimbal.cpp - 0 - 0 - - - 9 - 64 - 8 - 0 - 0 - 0 ..\User\module\shoot.cpp shoot.cpp 0 @@ -1105,13 +1093,13 @@ User/task - 0 + 1 0 0 0 10 - 65 + 64 1 0 0 @@ -1123,7 +1111,7 @@ 10 - 66 + 65 1 0 0 @@ -1135,7 +1123,7 @@ 10 - 67 + 66 8 0 0 @@ -1147,7 +1135,7 @@ 10 - 68 + 67 8 0 0 @@ -1159,19 +1147,7 @@ 10 - 69 - 8 - 0 - 0 - 0 - ..\User\task\gimbalTask.cpp - gimbalTask.cpp - 0 - 0 - - - 10 - 70 + 68 8 0 0 @@ -1183,7 +1159,7 @@ 10 - 71 + 69 8 0 0 diff --git a/MDK-ARM/R1.uvprojx b/MDK-ARM/R1.uvprojx index 7754386..68230c7 100644 --- a/MDK-ARM/R1.uvprojx +++ b/MDK-ARM/R1.uvprojx @@ -733,11 +733,6 @@ 8 ..\User\module\ball.cpp - - gimbal.cpp - 8 - ..\User\module\gimbal.cpp - shoot.cpp 8 @@ -768,11 +763,6 @@ 8 ..\User\task\encodeCan.cpp - - gimbalTask.cpp - 8 - ..\User\task\gimbalTask.cpp - nucTask.cpp 8 diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h index 0436014..8fd3b95 100644 --- a/User/bsp/TopDefine.h +++ b/User/bsp/TopDefine.h @@ -34,13 +34,16 @@ //================任务通知================// //运球 -#define BALL_OK (1<<1) +#define BALL_DOWN (1<<1) //接到放球命令 #define PUT_CMD (1<<2) //运球结束 #define PUT_OK (1<<2) +#define EXTEND_OK (1<<5) + + //take任务要等待上面两个标志位 #define TAKE_WAIT (0x0C) //要发送ok了 diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c index e277254..c1e775d 100644 --- a/User/device/djiMotor.c +++ b/User/device/djiMotor.c @@ -532,3 +532,7 @@ void CAN_XiaoMi(int id,JZ_xiaomi_t *JZ_xiaomi,CAN_HandleTypeDef*hcan) HAL_CAN_AddTxMessage(hcan, &tx_message, can_send_data, &send_mail_box); } +MotorFeedback_t * get_CyberGear_point() +{ + return &MotorFeedback; +} diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h index f18588f..890e442 100644 --- a/User/device/djiMotor.h +++ b/User/device/djiMotor.h @@ -98,6 +98,29 @@ typedef struct } motor_measure_t; +//小米 + +typedef struct +{ + int16_t position; + int16_t speed; + int16_t K_P; + int16_t K_D; + int16_t K_C; + + int16_t Pmax;//决定最大角度值，+-1 -> 最大+-360° + +}JZ_xiaomi_t; + +typedef struct { + + uint8_t can_id; + float position_deg; + float speed_rads; + float current_A; + +} MotorFeedback_t; + //motor calc ecd to angle #define MOTOR_ECD_TO_ANGLE_3508 (360.0 / 8191.0 / (3591.0/187.0)) @@ -156,6 +179,8 @@ extern void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_Hand extern motor_measure_t *get_motor_point(uint8_t i); extern CAN_MotorFeedback_t *get_vesc_point(uint8_t i); + + extern MotorFeedback_t *get_CyberGear_point(void); /** * @brief 数据处理函数 * @param[in] none @@ -172,31 +197,6 @@ void CAN_VESC_HEAD(uint8_t controller_id); int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan); -//小米 - -typedef struct -{ - int16_t position; - int16_t speed; - int16_t K_P; - int16_t K_D; - int16_t K_C; - - int16_t Pmax;//决定最大角度值，+-1 -> 最大+-360° - -}JZ_xiaomi_t; - -typedef struct { - - uint8_t can_id; - float position_deg; - float speed_rads; - float current_A; - -} MotorFeedback_t; - - - void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) ; diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 17ade79..149830b 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -10,16 +10,10 @@ extern RC_ctrl_t rc_ctrl; extern int key; //伸缩 -#define M_SPEED 4000 -#define I_ANGLE1 180 -#define I_ANGLE2 -73.5 -#define O_ANGLE1 340 -#define O_ANGLE2 -239 +#define I_ANGLE 0 +#define O_ANGLE 140 -const fp32 Ball:: Extend_speed_PID[3] = { 50, 0.0, 0.1}; -const fp32 Ball:: Extend_angle_PID[3]= { 50, 0.3, 0}; - //PE11 气缸 @@ -27,57 +21,30 @@ Ball ::Ball() { detect_init(); - //两个伸缩6020 左207 右208 - Extern_Motor[0] = get_motor_point(6); - Extern_Motor[1] = get_motor_point(7); + //小米电机 + feedback=get_CyberGear_point(); - Extern_Motor[0]->type = GM6020; - Extern_Motor[1]->type = GM6020; - PID_init(&extend_speed_pid[0],PID_POSITION,Extend_speed_PID,20000, 2000); - PID_init(&extend_angle_pid[0],PID_POSITION,Extend_angle_PID,20000, 1000); - - PID_init(&extend_speed_pid[1],PID_POSITION,Extend_speed_PID,15000, 5000); - PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,15000, 5000); - - e_result[0] = 0; - e_result[1] = 0; - angleSet[0] = 0; - angleSet[1] = 0; - - //状态机状态初始化 - currentState1= BALL_IDLE; + //小米电机初始化 + xiaomi.position = 0; // + xiaomi.speed = 20; // + xiaomi.K_P = 100; // + xiaomi.K_D =20; // + xiaomi.K_C = 2 ; + xiaomi.Pmax =1; + //状态机状态初始化 + currentState1= BALL_IDLE; } -void Ball ::Extend_mcontrol(int angle1,int angle2) -{ - int16_t delta[2]; - angleSet[0] = angle1/2; - angleSet[1] = angle2/2; - - fp32 angle_get[2]; - angle_get[0] = motor_ecd_to_angle_change(Extern_Motor[0]->ecd, angleSet[0]); - angle_get[1] = motor_ecd_to_angle_change(Extern_Motor[1]->ecd, angleSet[1]); - - delta[0] = PID_calc(&extend_angle_pid[0], angle_get[0] , angleSet[0]); - e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]); - - delta[1] = PID_calc(&extend_angle_pid[1], angle_get[1] , angleSet[1]); - e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]); - -} - - - // E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800 -// G键 sw[6]👆 1800 中 1000 👇200 +// G键 sw[6]👆 200 中 1000 👇1800 // sw[5] 👆 200 👇1800 //左旋 sw[7] 200 --1800 void Ball::rc_mode() { - if(rc_ctrl.sw[6]==1800) + if(rc_ctrl.sw[6]==200) { rc_key=UP2; } @@ -85,7 +52,7 @@ void Ball::rc_mode() { rc_key=MIDDLE2; } - if(rc_ctrl.sw[6]==200) + if(rc_ctrl.sw[6]==1800) { rc_key=DOWN2; } @@ -101,21 +68,7 @@ void Ball::rc_mode() } -void Ball::Move_Extend(void) -{ - if(extern_key==IN) - { - Extend_mcontrol(I_ANGLE1, I_ANGLE2); // 内伸 - } - else if(extern_key==OUT) - { - Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸 - } - else - { - Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸 - } -} +#if TESTBALL void Ball::ballDown(void) { @@ -125,6 +78,18 @@ void Ball::ballDown(void) } +void Ball::Move_Extend() +{ + if(extern_key==IN) + { + xiaomi.position = 0; + } + if(extern_key==OUT) + { + xiaomi.position = 90; + } +} + void Ball::ball_control() { ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0) @@ -163,7 +128,7 @@ void Ball::ball_control() void Ball::Send_control() { - CAN_cmd_1FF(0,0,e_result[0],e_result[1],&hcan1); + CAN_XiaoMi(1,&xiaomi,&hcan2); osDelay(1); } @@ -245,5 +210,185 @@ void Ball::ballHadling(void) currentState1 = BALL_IDLE; // 默认回到空闲状态 break; } + + } +#endif + +#if ONE_CONTROL + +//任务通知来作全过程 + +void Ball::ballDown(void) +{ + xiaomi.position = I_ANGLE; + if(feedback->position_deg== I_ANGLE) // 确保伸缩电机到位 + { + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子 + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 + } + if(ball_state==0)//检测到球 + { + osThreadFlagsSet(task_struct.thread.ball, BALL_DOWN); + //osThreadFlagsSet(task_struct.thread.shoot, BALL_DOWN); + xiaomi.position = O_ANGLE; + + } + if(hand_thread & BALL_DOWN) + { + if(feedback->position_deg== O_ANGLE) + { + osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK); //告诉发射球出去了 + osThreadFlagsSet(task_struct.thread.ball, EXTEND_OK); //告诉发射球出去了 + + } + + } + + +} + +void Ball::Idle_control() +{ + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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(hand_thread & EXTEND_OK) + { + xiaomi.position = O_ANGLE; // 伸缩电机伸出去 + + } + else + { + xiaomi.position = I_ANGLE; // 伸缩电机回位,底盘可能跑的更好 + + } + + if (currentState1 == BALL_FINISH) + { + currentState1 = BALL_IDLE; + } + else { + currentState1 = BALL_IDLE; // 默认回到空闲状态 + } + +} + +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){ + case MIDDLE2: + Idle_control(); + break; + + case UP2: + ballDown(); + break; + + case DOWN2: + ballHadling(); + + break; + + } + + Send_control(); + +} + + +void Ball::Send_control() +{ + + CAN_XiaoMi(1,&xiaomi,&hcan2); + osDelay(1); + +} + + + int ball_state = 0; + int triggerCount = 0; // 光电传感器触发计数 + int last_ball_state = 1; // 上一次的光电状态 +//(有球 0,无球 1) +void Ball::ballHadling(void) +{ + + switch (currentState1) + { + case BALL_IDLE: + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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 (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下 + { + key = 0; // 重置按键状态 + triggerCount = 0; // 重置触发计数 + currentState1 = BALL_FORWARD; + } + break; + + case BALL_FORWARD: + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子 + osDelay(5); + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸 + currentState1 = BALL_DROP; // 切换到球下落状态 + break; + + case BALL_DROP: + osDelay(100); // 延时 100ms + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸 + if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球 + { + //osDelay(10); // 延时去抖动 + triggerCount++; // 增加触发计数 + if (triggerCount == 1) // 第一次触发 + { + currentState1 = BALL_FLAG; // 切换到等待第二次触发状态 + } + } + last_ball_state = ball_state; // 更新上一次的状态 + 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 + currentState1 = BALL_CLOSE; // 切换到闭合气缸状态 + } + last_ball_state = ball_state; // 更新上一次的状态 + break; + + case BALL_CLOSE: + if (triggerCount == 2) // 确保是第二次触发 + { + 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 + } + break; + + case BALL_FINISH: + 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 + key = 0; // 重置按键状态 + triggerCount = 0; // 重置触发计数 + + //currentState1 = BALL_IDLE; // 回到空闲状态 + + break; + + default: + currentState1 = BALL_IDLE; // 默认回到空闲状态 + break; + } + + +} + +#endif + diff --git a/User/module/ball.hpp b/User/module/ball.hpp index 3820564..3c7bda2 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -11,6 +11,9 @@ #include "filter.h" #include "calc_lib.h" +#define TESTBALL 0 +#define ONE_CONTROL 1 + // 定义状态枚举 typedef enum { BALL_IDLE, // 空闲状态 @@ -56,17 +59,19 @@ public: void ballDown(void); void Send_control(void); void Move_Extend(void); + void Idle_control(void); void rc_mode(void); void Extend_mcontrol(int angle1,int angle2); void ball_control(void); BallState_t currentState1; // 当前状态 - int flag;//暂时还没用到 + int flag_thread;//暂时还没用到 int ball_state ;//光电检测 - //伸缩6020 - int16_t e_result[2]; - motor_measure_t * Extern_Motor[2]; + + //小米电机伸缩 + MotorFeedback_t *feedback; + JZ_xiaomi_t xiaomi; //==========================公共变量==========================// @@ -74,17 +79,11 @@ public: int16_t extern_key; //用于传接球,运球后通知 volatile BallState_t ballStatus;//是否有球 - volatile uint32_t flag_thread;//接收传回的线程通知 + volatile uint32_t hand_thread;//接收传回的线程通知 private: - static const float Extend_speed_PID[3]; - static const float Extend_angle_PID[3]; - pid_type_def extend_speed_pid[2]; - pid_type_def extend_angle_pid[2]; - - float angleSet[2]; }; diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index bd3e98b..80dd4e3 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -316,6 +316,7 @@ void Shoot::RemoveError() { { //认为完全松开 control_pos=INIT_POS; + BSP_Buzzer_Stop(); } diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp index 771cdf0..e62a1cf 100644 --- a/User/task/shootTask.cpp +++ b/User/task/shootTask.cpp @@ -30,7 +30,7 @@ while(1) //我放的任务通知 运球成功放置过来后 shoot.flag_thread=osThreadFlagsGet(); - if(shoot.flag_thread & BALL_OK) + if(shoot.flag_thread & BALL_DOWN) { }