完结撒花

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

@@ -102,3 +102,65 @@
 
 [info] Log at : 2025/7/4|09:10:46|GMT+0800
 
+[info] Log at : 2025/7/6|22:01:26|GMT+0800
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+

MDK-ARM/.vscode/uv4.log

@@ -1,13 +1,9 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
+compiling ballTask.cpp...
 compiling shootTask.cpp...
-compiling nuc.c...
-compiling initTask.c...
-compiling ball.cpp...
-compiling nucTask.cpp...
-compiling shoot.cpp...
 linking...
-Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220  
+Program Size: Code=31984 RO-data=1832 RW-data=272 ZI-data=32264  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:02:09
+Build Time Elapsed:  00:00:05

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

@@ -1 +1 @@
-2025/7/4 9:21:52
+2025/7/16 22:30:59

MDK-ARM/R1.uvoptx

@@ -154,6 +154,10 @@
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
+<<<<<<< HEAD
+<<<<<<< HEAD
+=======
+>>>>>>> 上层测试
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -168,26 +172,43 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
+<<<<<<< HEAD
           <ItemText>ball,0x0A</ItemText>
+=======
+          <ItemText>ball</ItemText>
+>>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
+<<<<<<< HEAD
           <ItemText>nucbuf</ItemText>
+=======
+          <ItemText>and1</ItemText>
+>>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
+<<<<<<< HEAD
           <ItemText>nuc_v</ItemText>
+=======
+          <ItemText>and1</ItemText>
+>>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
+<<<<<<< HEAD
           <ItemText>abc,0x0A</ItemText>
+=======
+          <ItemText>nucbuf</ItemText>
+>>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
+<<<<<<< HEAD
           <ItemText>shoot_wait,0x0A</ItemText>
         </Ww>
         <Ww>
@@ -196,6 +217,13 @@
           <ItemText>error_code</ItemText>
         </Ww>
       </WatchWindow1>
+=======
+>>>>>>> 上层测试
+=======
+          <ItemText>drop_message,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+>>>>>>> 上层测试
       <MemoryWindow4>
         <Mm>
           <WinNumber>4</WinNumber>
@@ -962,7 +990,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

README.md

@@ -5,19 +5,60 @@ r1上层
 ## 外设
 
 + CAN1
-  - 扳机2006 id:0x205
-  - 三摩擦 id:123 
+  + 扳机2006 id:0x201
++ CAN2
+  + 小米电机 id:1  
 + UART
-  - uart1 波特率4000000 id：2
-  - uart6 nuc
-  - uart3 遥控器接收
+  + uart1 波特率4000000 id：2
+  + uart6 nuc
+  + uart3 遥控器接收
 + GPIO
-  - PI6运球光电 
-  - PE11 运球气缸
-
-
+  + PI6运球光电
+  + PE13 爪气缸
+  + PE14 砸气缸
 
 ## 遥控器
 
+## 待解决
 
++ 用了将运球和伸缩绑定到一起  √
++ 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
++ 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
+  + 初始移动到最上面 更待蓄力(不管攻方守方都在最上面等待)
+  + 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
+
++ 传球模式
+  + 自动
+    + 底盘的传球对准档拨下
+    + 我的蓄力进入传球拟合
+    + 继续拨下发射
+  + 手动
+    + 目前只能打固定距离
+      + 切相同传球档 自动蓄力到传球力度
+      + 发射档发射
+    + 图传多距离
+      + 传球档
+      + 旋钮+看图传点位调整
+
++ 修复
+  + 6.29 发射误操作导致没有拟合作用就射了(已修复)
+  + 6.29 串口不稳定 重新拔插一下
+  + 6.29 nuc位置更新慢
+  + 6.29 添加光电上电保护防止跳尺(已添加)
+  

User/bsp/TopDefine.h

@@ -28,7 +28,8 @@
 //================任务通知,时间组================//
 //事件组
 #define EVENT_RC    (1<<1)
-#define EVENT_CAN   (1<<2)
+#define EVENT_CAN1  (1<<2)
+#define EVENT_CAN2  (1<<3)
 
 //================任务通知================//
 //运球
@@ -42,6 +43,8 @@
 #define EXTEND_OK	(1<<3)
 //等待ok
 #define WAIT_OK		(1<<4)
+//可以防守收回
+#define DEF_READY	(1<<5)
 
 //要发送ok了
 #define BALL_SEND (1<<6)

User/device/djiMotor.c

@@ -215,15 +215,13 @@ static osThreadId_t thread_alert;
 void Dji_Motor_CB()
 {
   HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
+  osThreadFlagsSet(thread_alert, EVENT_CAN1);
 
-  osThreadFlagsSet(thread_alert, EVENT_CAN);
- // osEventFlagsSet(eventReceive, EVENT_CAN);
 }
 void can2_Motor_CB(void)
 {
   HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
-
-  //osThreadFlagsSet(thread_alert, EVENT_CAN);
+  osThreadFlagsSet(thread_alert, EVENT_CAN2);
 }
 
 /**
@@ -234,9 +232,6 @@ void can2_Motor_CB(void)
 void djiInit(void)
 {
   thread_alert = osThreadGetId();
-
-  
-
   BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
                           Dji_Motor_CB);
   BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@@ -250,11 +245,9 @@ void djiInit(void)
 */
 uint32_t waitNewDji() 
 {
-  // return osEventFlagsWait(
-	// 			eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
+  // 等待CAN1或CAN2任意一个事件
   return osThreadFlagsWait(
-    EVENT_CAN, osFlagsWaitAll, osWaitForever);
-
+    EVENT_CAN1 | EVENT_CAN2, osFlagsWaitAny, osWaitForever);
 }
 #endif
 

User/device/nuc.c

@@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
 
 volatile uint32_t drop_message = 0;
 
-uint8_t nucbuf[16];
+uint8_t nucbuf[18];
 uint8_t packet[32]; // 假设最大数据包长度为 32 字节
 
 static void NUC_CBLTCallback(void)
@@ -82,6 +82,62 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
   return DEVICE_OK; // 发送成功
 }
 
+// int8_t NUC_RawParse(NUC_t *n) {
+//   if (n == NULL) return DEVICE_ERR_NULL;
+//   union {
+//       float x[3];
+//       char data[12];
+//   } instance; // 方便在浮点数和字符数组之间进行数据转换
+
+//   // 校验数据包头
+//   if(nucbuf[0]!=HEAD) goto error;  //发送ID不是底盘
+//   else
+//   {
+//     n->status_fromnuc = nucbuf[1];
+//     n->ctrl_status = nucbuf[2];
+//  switch (n->status_fromnuc) {
+//       case VISION:
+//           /* 协议格式 
+//              0xFF  HEAD
+//              0x07
+//                控制帧
+//              0x01  相机帧
+//              x    fp32
+//              0xFE  TAIL
+//           */
+//       if (nucbuf[7] != TAIL) goto error;
+
+//       instance.data[3] = nucbuf[6];
+//       instance.data[2] = nucbuf[5];
+//       instance.data[1] = nucbuf[4];
+//       instance.data[0] = nucbuf[3];
+//       n->vision.x = instance.x[0];
+
+//       instance.data[7] = nucbuf[10];
+//       instance.data[6] = nucbuf[9];
+//       instance.data[5] = nucbuf[8];
+//       instance.data[4] = nucbuf[7];
+//       n->vision.y = instance.x[1];
+
+
+//           break;
+//   }
+//    return DEVICE_OK;
+//   }
+
+
+// error:
+//   drop_message++;
+//   return DEVICE_ERR;
+// }
+
+
+  /* 协议格式 
+      0xFF  HEAD
+      x    fp32
+      y    fp32
+      0xFE  TAIL
+  */
 int8_t NUC_RawParse(NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
@@ -93,43 +149,24 @@ int8_t NUC_RawParse(NUC_t *n) {
   if(nucbuf[0]!=HEAD) goto error;  //发送ID不是底盘
   else
   {
-    n->status_fromnuc = nucbuf[1];
-    n->ctrl_status = nucbuf[2];
- switch (n->status_fromnuc) {
-      case VISION:
-          /* 协议格式 
-             0xFF  HEAD
-             0x07
-               控制帧
-             0x01  相机帧
-             x    fp32
-             0xFE  TAIL
-          */
-      if (nucbuf[7] != TAIL) goto error;
 
-      instance.data[3] = nucbuf[6];
-      instance.data[2] = nucbuf[5];
-      instance.data[1] = nucbuf[4];
-      instance.data[0] = nucbuf[3];
+      if (nucbuf[17] != TAIL) goto error;
+
+      instance.data[3] = nucbuf[8];
+      instance.data[2] = nucbuf[7];
+      instance.data[1] = nucbuf[6];
+      instance.data[0] = nucbuf[5];
       n->vision.x = instance.x[0];
 
-      instance.data[7] = nucbuf[10];
-      instance.data[6] = nucbuf[9];
-      instance.data[5] = nucbuf[8];
-      instance.data[4] = nucbuf[7];
+      instance.data[7] = nucbuf[16];
+      instance.data[6] = nucbuf[15];
+      instance.data[5] = nucbuf[14];
+      instance.data[4] = nucbuf[13];
       n->vision.y = instance.x[1];
 
-      instance.data[11] = nucbuf[11];
-      instance.data[10] = nucbuf[12];
-      instance.data[9] = nucbuf[13];
-      instance.data[8] = nucbuf[14];
-      n->vision.z = instance.x[2];
-          break;
   }
    return DEVICE_OK;
-  }
-
-
+  
 error:
   drop_message++;
   return DEVICE_ERR;

User/module/ball.cpp

@@ -11,14 +11,14 @@ extern int ball_exit;
 
 // 外死点168  外163 中150  内127  限位124.8
 // 伸缩
-//外死点168  外163 中150  内127  限位124.8
-#define I_ANGLE 127
-#define O_ANGLE 163
-#define WAIT_POS 150
-#define IN 124.8
-#define OUT 168
+//外死点89  外85 中75  内49  限位46 
 
-// PE11 气缸
+#define I_ANGLE 49
+#define O_ANGLE 85
+#define WAIT_POS 75
+#define HANGDING_POS 89
+
+// PE11 气缸git stash apply
 
 Ball ::Ball()
 {
@@ -107,7 +107,7 @@ void Ball::Move_Extend()
     }
     if (extern_key == OUT)
     {
-        xiaomi.position = O_ANGLE;
+        xiaomi.position = HANGDING_POS;
     }
 }
 
@@ -218,12 +218,13 @@ void Ball::ballHadling(void)
 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)
+    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
     
 
     // 进攻
     if (ready_key == SIDE)
     {
+        osThreadFlagsClear(DEF_READY);
         switch (rc_key)
         {
         case MIDDLE2:
@@ -244,10 +245,23 @@ void Ball::ball_control()
     // 防守
     else if(ready_key == DEF)
     {
-        xiaomi.position = I_ANGLE;                                     // 保持收回
+        if(hand_thread & DEF_READY)
+        {
+         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
 
+        osThreadFlagsClear(EXTEND_OK);
+        osThreadFlagsClear(READY_TELL); // 蓄力标志位
+        osThreadFlagsClear(HANDING_FINISH);
+
+        haveball=0;//变为空球状态
+
+        currentState1 = BALL_IDLE;
+
         Send_control();
     }
 
@@ -257,11 +271,12 @@ void Ball::ball_control()
 
 void Ball::ballDown(void)
 {
+     osThreadFlagsClear(HANDING_FINISH);
     switch (currentState1)
     {
     case BALL_IDLE:
         xiaomi.position = I_ANGLE; // 保持收回
-        if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
+        if (feedback->position_deg >= I_ANGLE - 1 && feedback->position_deg <= I_ANGLE + 1)
         {
             currentState1 = EXTEND_DOWN;
         }
@@ -280,7 +295,7 @@ void Ball::ballDown(void)
 
     case EXTEND_OUT:
         xiaomi.position = O_ANGLE; // 保持伸出
-        if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
+        if (feedback->position_deg >= O_ANGLE - 1 && feedback->position_deg <= O_ANGLE + 1)
         {
 
             osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
@@ -300,24 +315,48 @@ 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
+    if(ball_state==1 && haveball==0)// 读取光电状态(有球 0，无球 1)
+    {
+      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸张开  
+
+    }
+    if(ball_state==0)
+    {
+        haveball=1;//变为持球状态
+        osDelay(500);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸闭合
+    }
+
+
+    // 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)
+        if(hand_thread & HANDING_FINISH)
         {
+            xiaomi.position=HANGDING_POS;//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
     {
@@ -339,9 +378,11 @@ 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
 
@@ -353,8 +394,8 @@ void Ball::ballHadling(void)
     case BALL_IDLE:
         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
+            xiaomi.position = HANGDING_POS;                 // 外伸
+            if (feedback->position_deg >= HANGDING_POS - 0.5f) // 确保伸缩电机到位
             {
                 currentState1 = BALL_FORWARD;
             }
@@ -399,7 +440,7 @@ 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;

User/module/ball.hpp

@@ -74,11 +74,10 @@ public:
     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
 
 private:  
-
+    bool haveball;
 
     
 };

User/module/gimbal.cpp

@@ -1,113 +0,0 @@
-#include "TopDefine.h"
-#include "gimbal.hpp"
-#include "remote_control.h"
-#include "calc_lib.h"
-#include "FreeRTOS.h"
-#include <cmsis_os2.h>
-
-#define KP 0.12
-#define KD 0.008
-//可活动角度
-#define ANGLE_ALLOW 1.0f
-extern RC_ctrl_t rc_ctrl;
-NUC_t nuc;
-
-const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1,  0};
-const fp32 Gimbal:: Gimbal_angle_PID[3]=  { 5, 0.01, 0};
-
-#if GM6020ING ==1
-Gimbal::Gimbal()
-{
-  // GM6020_Motor = get_motor_point(6);
-  // GM6020_Motor->type = GM6020;
-  // PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
-  // PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
-
-  // result = 0;
-  // angleSet = 0;
-
-}
-
-void Gimbal::gimbalFlow()
-{
-  int16_t delta[1];
-  //angleSet = angle1;
-  delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
-  result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
-
-  CAN_cmd_1FF(0,0,result,0,&hcan1);
-  osDelay(1);
-
-}
-
-void Gimbal::gimbalZero()
-{
-  angleSet=0;
-  //gimbalFlow();
-
-}
-
-void Gimbal::gimbalVision(const NUC_t &nuc)
-{
-    int16_t delta[1];
-    angleSet = nuc.vision.x;
-    delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
-    result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
-
-    CAN_cmd_1FF(0,0,result,0,&hcan1);
-    osDelay(1);
-}
-
-
-
-#else
-Gimbal::Gimbal()
-{
-
-			Kp = KP;
-			Kd = KD;
-			allowRange = ANGLE_ALLOW;
-}   
-
-void Gimbal::gimbalInit(void)
-{
-		int i;
-    GO_M8010_init();
-    for(i = 0;i < GO_NUM;i ++)
-    {
-        goData[i] = getGoPoint(i);//获取电机数据指针
-
-        angleSet[i] = 0;
-        offestAngle[i] = 0;
-				GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
-				offestAngle[i] = goData[i]->Pos;
-				HAL_Delay(100);
-
-    }
-		
-}
-
-void Gimbal::gimbalFlow(void)
-{
-
-    //angleSet[0] = map_fp32((float)rc_ctrl.ch[3],-800.0f,800.0f,-allowRange,allowRange) + offestAngle[0];
-    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
-		osDelay(1);
-
-
-}
-
-
-void Gimbal::gimbalZero(void)
-{
-  GO_M8010_send_data(&huart6, 0,0,0,0,0,0,0);
-}
-
-void Gimbal::gimbalVision(const NUC_t &nuc)
-{
-    angleSet[0] = nuc.vision.x;
-    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
-    osDelay(1);
-}
-
-#endif

User/module/gimbal.hpp

@@ -1,57 +0,0 @@
-#ifndef GIMBAL_HPP
-#define GIMBAL_HPP
-
-#include "GO_M8010_6_Driver.h"
-#include "djiMotor.h"
-#include "pid.h"
-#include "nuc.h"
-
-class Gimbal
-{
-public:
-    Gimbal();
-    void gimbalFlow(void);//云台随遥控器转动
-    void gimbalZero(void);//云台零阻尼模式
-		void gimbalInit(void);//go初始化
-    void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
-
-    int16_t result;
-    //暂存要发送的扭矩
-    //float result[GO_NUM]; 
-//		float Kp;
-//		float Kd;
-private:
-
-#if GM6020ING == 1
-//GM6020电机数据
- motor_measure_t *GM6020_Motor;
-
- static const float Gimbal_speed_PID[3];
- static const float Gimbal_angle_PID[3];
-
-  //电机速度pid结构体
-  pid_type_def speed_pid;
-  //位置环pid
-  pid_type_def angle_pid;
-
-  float angleSet;
-
-#else
-    motor_measure_t *motorData[GO_NUM];
-  //视觉发送的要调的角度
-    float self_angleSet;
-    GO_Motorfield* goData[GO_NUM];
-    //暂存目标位置
-    float angleSet[GO_NUM];
-    float offestAngle[GO_NUM];//go数据
-		float Kp;
-		float Kd;
-		float allowRange;
-
-#endif    
-};
-
-
-
-
-#endif

User/module/shoot.cpp

@@ -15,7 +15,7 @@ extern RC_ctrl_t rc_ctrl;
 NUC_t nuc_v;
 float vofa[8];
 
-double test_distance;
+double test_distance=4.0;
 
 // sw[7]👆 1694  中 1000 👇306
 // sw[2]👆 1694   👇306
@@ -29,19 +29,22 @@ double test_distance;
 const fp32 Shoot::M2006_speed_PID[3] = {5, 0, 0.01};
 const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
 
-#define TO_TOP 10.0f
+#define TO_TOP 13.0f
 #define TO_BOTTOM 6.0f
 
-#define INIT_POS -130
+#define INIT_POS -120
 #define TOP_POS -211
 #define BOTTOM_POS 0
+#define WAIT_POS -170
+#define CHANEGE_POS -205
 #define GO_ERROR 1.0f
-#define Tigger_DO 0
-#define Tigger_ZERO 120
+#define Tigger_DO -10
+#define Tigger_ZERO 125
 #define Tigger_ERROR 3
 
 float knob_increment;
 double last_distance = 4.0f; // 4米做测试吧
+double last_pass = 4.0f; // 4米做测试吧
 
 Shoot::Shoot()
 {
@@ -71,6 +74,7 @@ Shoot::Shoot()
     currentState = SHOOT_IDLE;
 
     LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
+    LowPassFilter2p_Init(&pass_filter, 500.0f, 80.0f); // 给distance 做滤波
 }
 
 void Shoot::trigger_control()
@@ -82,14 +86,27 @@ void Shoot::trigger_control()
     CAN_cmd_200(result, 0, 0, 0, &hcan1);
 }
 
+//好使老拟合
+// float shoot_fitting(float x)
+// {
+//     return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
+// }
+
+// float shoot_fitting(float x)
+// {
+//     return 1.4255807f * x * x + 12.138447f * x + -136.35306f;
+// }
+
 float shoot_fitting(float x)
 {
-    return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f;
+    return 1.2143736f * x * x + 14.733786f * x + -133.3627f;
 }
 
+
+
 float pass_fitting(float x)
 {
-    return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f;
+    return 0.36807548f * x * x + 25.002169f * x + -199.2727f;
 }
 
 void Shoot::distanceGet(const NUC_t &nuc_v)
@@ -100,8 +117,13 @@ void Shoot::distanceGet(const NUC_t &nuc_v)
         last_distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x);
     }
 
+    if(nuc_v.vision.y >= 0.0f && nuc_v.vision.y <= 7.5f)
+    {
+        last_pass = LowPassFilter2p_Apply(&pass_filter, nuc_v.vision.y);
+    }
     // 否则不更新，保持上一次的值
     distance = last_distance;
+    pass_distance =last_pass;
 }
 
 int Shoot::GO_SendData(float pos, float limit)
@@ -149,6 +171,9 @@ int Shoot::GO_SendData(float pos, float limit)
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
 
+
+float and1=0.0f;
+
 void Shoot::rc_mode()
 {
     // 底部光电检测（假设0为到位，1为未到位，根据实际硬件调整）
@@ -200,22 +225,44 @@ void Shoot::rc_mode()
     {
         ready_key = DEFENSE;
     }
+    //400--640为1  730--860为2 900到1200为3档中间  1300--1500为4
+    if(rc_ctrl.sw[7]<=300)
+    {
+        and1=0.0f;
+    }
+    if(rc_ctrl.sw[7]>=400&&rc_ctrl.sw[7]<=640)
+    {
+        and1=-2.0f;
+    }
+    if(rc_ctrl.sw[7]>=730&&rc_ctrl.sw[7]<=860)
+    {
+        and1=-1.0f;
+    }
+    if(rc_ctrl.sw[7]>=900&&rc_ctrl.sw[7]<=1200)
+    {
+        and1=0.0f;
+    }
+    if(rc_ctrl.sw[7]>=1300&&rc_ctrl.sw[7]<=1500)
+    {
+        and1=1.0f;
+    }
 
-    // 旋钮映射部分不变
-    const int knob_min = 200;
-    const int knob_max = 1800;
-    const float map_min = 130.0f;
-    const float map_max = -60.0f;
-    int current_knob_value = rc_ctrl.sw[7];
-    if (current_knob_value < knob_min)
-        current_knob_value = knob_min;
-    if (current_knob_value > knob_max)
-        current_knob_value = knob_max;
-    knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
+    // // 旋钮映射部分不变
+    // const int knob_min = 200;
+    // const int knob_max = 1800;
+    // const float map_min = 130.0f;
+    // const float map_max = -60.0f;
+    // int current_knob_value = rc_ctrl.sw[7];
+    // if (current_knob_value < knob_min)
+    //     current_knob_value = knob_min;
+    // if (current_knob_value > knob_max)
+    //     current_knob_value = knob_max;
+    // knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
 }
 
 #if ONE_CONTROL == 0
 
+
 void Shoot::shoot_control()
 {
 
@@ -225,8 +272,10 @@ void Shoot::shoot_control()
     switch (mode_key)
     {
     case VSION:
-        fire_pos = distance; // 视觉拟合的力
-        // fire_pos =shoot_fitting(test_distance);
+        //fire_pos = distance; // 视觉拟合的力
+         //fire_pos =shoot_fitting(distance)+and1;
+        fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
         switch (rc_key)
         {
         case DOWN1:
@@ -266,8 +315,8 @@ void Shoot::shoot_control()
         break;
     case PASS:
         // 实时可调蓄力位置
-        fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
-
+        //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+        fire_pos =pass_fitting(pass_distance);
         switch (rc_key)
         {
         case DOWN1:
@@ -311,7 +360,7 @@ void Shoot::shoot_control()
         break;
     }
 
-    abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
+    abs_limit_min_max_fp(&go1.Pos, -210.0f, 8.0f);
     // 发送数据到蓄力电机
     GO_SendData(go1.Pos, limit_speed);
 
@@ -390,6 +439,8 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
+float and2=0;
+
 void Shoot::shoot_control()
 {
 
@@ -404,7 +455,9 @@ void Shoot::shoot_control()
         switch (mode_key)
         {
         case VSION:
-            fire_pos = shoot_fitting(distance); // 视觉拟合的力
+            fire_pos = shoot_fitting(distance)+and1; 
+            //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
             switch (rc_key)
             {
             case MIDDLE1:
@@ -420,8 +473,8 @@ void Shoot::shoot_control()
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         shoot_wait = 1;
-                        BSP_Buzzer_Start();
-                        BSP_Buzzer_Set(1, 500);
+                        //BSP_Buzzer_Start();
+                        //BSP_Buzzer_Set(1, 500);
                     }
                 }
 
@@ -434,7 +487,7 @@ void Shoot::shoot_control()
                     if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
 
-                        BSP_Buzzer_Stop();
+                        //BSP_Buzzer_Stop();
                         currentState = SHOOT_IDLE;
                         osThreadFlagsClear(EXTEND_OK);
                         osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -458,11 +511,10 @@ void Shoot::shoot_control()
             switch (rc_key)
             {
             case MIDDLE1:
-                fire_pos = pass_fitting(distance);
+                fire_pos = shoot_fitting(distance)+and1;
                 if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
                 {
-                    // 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
-                    ball_receive(); // ball_receive内部写go1.Pos
+                    ball_receive(); 
                 }
                 else if (shoot_thread & EXTEND_OK)
                 {
@@ -473,8 +525,8 @@ void Shoot::shoot_control()
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         shoot_wait = 1;
-                        BSP_Buzzer_Start();
-                        BSP_Buzzer_Set(1, 500);
+                        // BSP_Buzzer_Start();
+                        // BSP_Buzzer_Set(1, 500);
                     }
                 }
                 // 没收到READY_TELL不做任何蓄力
@@ -489,7 +541,7 @@ void Shoot::shoot_control()
                         if (feedback.fd_tpos >= Tigger_ZERO - 20)
                         {
 
-                            BSP_Buzzer_Stop();
+                            //BSP_Buzzer_Stop();
                             currentState = SHOOT_IDLE;
                             osThreadFlagsClear(EXTEND_OK);
                             osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -515,10 +567,28 @@ void Shoot::shoot_control()
     }
     else if (ready_key == DEFENSE)
     {
-        control_pos = TOP_POS - 2.0f; //-209
+
+        control_pos = WAIT_POS; //-209
         go1.Pos = control_pos;
         limit_speed = TO_TOP;   // 快速上去
-        t_posSet = Tigger_ZERO; // 扳机松开
+        if(feedback.fd_gopos < WAIT_POS +2.0f)
+        {
+           t_posSet = Tigger_ZERO; // 扳机松开
+           //osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
+
+            // 只在READY_TELL未置位时发送，防止重复
+            if ((osThreadFlagsGet() & DEF_READY) == 0)
+            {
+                osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
+            }
+
+        }
+        
+        osThreadFlagsClear(EXTEND_OK);
+        osThreadFlagsClear(READY_TELL); // 蓄力标志位
+        osThreadFlagsClear(HANDING_FINISH);
+        currentState = SHOOT_IDLE;
+
     }
     else
     {
@@ -533,6 +603,7 @@ void Shoot::shoot_control()
     trigger_control();
 }
 
+
 // 配合运球到发射
 void Shoot ::ball_receive()
 {
@@ -542,11 +613,17 @@ void Shoot ::ball_receive()
         // 初始状态：钩子移动到顶部，钩住拉簧
         if (shoot_thread & READY_TELL) // 如果收到等待通知
         {
-            control_pos = TOP_POS;
-            limit_speed = TO_TOP; // 快速上去
             t_posSet = Tigger_ZERO;
+            if(trigger_Motor->total_angle > Tigger_ZERO-5 )
+            {
+              control_pos = TOP_POS;
+              limit_speed = TO_TOP; // 快速上去
+         
+
+            }
             if (feedback.fd_gopos < -209)
             {
+                
                 currentState = GO_TOP; // 切换到准备发射状态
             }
         }
@@ -562,7 +639,7 @@ void Shoot ::ball_receive()
         break;
     case BAKC:
         control_pos = BOTTOM_POS;
-        limit_speed = TO_BOTTOM; // 慢速下来
+        limit_speed = 8.0f; // 慢速下来
         if (feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
         {
 
@@ -591,7 +668,7 @@ void Shoot::RemoveError()
         control_pos = INIT_POS;
         BSP_Buzzer_Stop();
     }
-    limit_speed = 3.0f; // 慢慢送上去
+    limit_speed = 5.0f; // 慢慢送上去
     go1.Pos = control_pos;
 }
 

User/module/shoot.hpp

@@ -87,6 +87,7 @@ public:
 
     //滤波器
     LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
+    LowPassFilter2p_t pass_filter;
 
     //==========================公共变量==========================
     int16_t rc_key; //遥控器按键
@@ -97,6 +98,7 @@ public:
 
     volatile uint32_t shoot_thread;//接收传回的线程通知
     fp32 distance;   //视觉距离
+    fp32 pass_distance;   //视觉距离
 
 private:
     //扳机2006

User/task/ballTask.cpp

@@ -8,11 +8,7 @@
 #include "vofa.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
-//float vofa[8];
 
-//检查光电
-int abc=0;
-int aaaa=146;
 
 extern int speedm;
 
@@ -22,7 +18,7 @@ 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
     
     uint32_t tick = osKernelGetTickCount();
@@ -32,16 +28,9 @@ void FunctionBall(void *argument)
 #ifdef DEBUG
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
-
-    //abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
-     abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
-
-     ball.rc_mode(); // 遥控器模式  
+      ball.rc_mode(); // 遥控器模式  
     
-     ball.ball_control(); // 控制球的动作    
-
-    // ball.xiaomi.position = aaaa; 
-    // CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
+      ball.ball_control(); // 控制球的动作    
 
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     osDelayUntil(tick);

User/task/encodeCan.cpp

@@ -26,7 +26,7 @@ void FunctionCan(void *argument)
      task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId()); 
     
   #endif 
-        waitNewDji();
+        //waitNewDji();
         djiMotorEncode();
         can2MotorEncode();
 

User/task/gimbalTask.cpp

@@ -1,47 +0,0 @@
-#include "TopDefine.h"
-#include "FreeRTOS.h"
-#include "userTask.h"
-#include <cmsis_os2.h>
-#include "gimbalTask.hpp"
-#include "gimbal.hpp"
-#include "main.h"
-#include "remote_control.h"
-#include "nuc.h"
-Gimbal gimbal;
-// NUC_t nucData; // 用于存储从队列接收的数据
-extern RC_ctrl_t rc_ctrl;
-int cnt1=0;
-
-void FunctionGimbal(void *argument)
-{
-	(void)argument; /* 未使用argument，消除警告 */
-
-    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
-	
-	HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
-
-	uint32_t tick = osKernelGetTickCount();
-
-	while(1)
-	{
-   #ifdef DEBUG
-		task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());  
-   #endif 
-
-		//cnt1++;
-
-    //  gimbal.gimbalFlow();
-		// 从消息队列接收视觉数据
-		// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
-		// {
-		// 	// 使用接收到的视觉数据调整云台
-		// 	//gimbal.gimbalVision(nucData);
-		// }
-			
-		osDelay(1);
-
-		tick += delay_tick; /* 计算下一个唤醒时刻 */
-        osDelayUntil(tick);
-	}
-}
-

User/task/gimbalTask.hpp

@@ -1,5 +0,0 @@
-#ifndef GIMBALTASK_HPP
-#define GIMBALTASK_HPP
-
-
-#endif

User/task/shootTask.cpp

@@ -10,7 +10,7 @@ extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
 NUC_t nucData; // 自瞄
 
-int aaaxxx=0;
+
 
 void FunctionShoot(void *argument)
 {
@@ -35,13 +35,6 @@ while(1)
 
 	shoot.shoot_control();
 	
-//	shoot.t_posSet=aaaxxx;
-//	shoot.trigger_control();
-//  shoot.GO_SendData(goangle,5);
-//  shoot.shoot_control();
-//	shoot.t_posSet=goangle;
-//	shoot.trigger_control();
-
 	tick += delay_tick; /* 计算下一个唤醒时刻 */
 	osDelayUntil(tick);		
 

User/task/userTask.h

@@ -14,7 +14,7 @@ extern "C" {
 
 /* 所有任务都要define一个“任务运行频率”和“初始化延时” */
 #define TASK_FREQ_SHOOT (500u)
-#define TASK_FREQ_CAN (1500u)
+#define TASK_FREQ_CAN (500u)
 #define TASK_FREQ_AI (500u)
 #define TASK_FREQ_BALL (500u)