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

@@ -32,7 +32,3 @@
 
 [info] Log at : 2025/6/15|11:17:22|GMT+0800
 
-[info] Log at : 2025/6/16|19:01:05|GMT+0800
-
-[info] Log at : 2025/6/17|19:06:14|GMT+0800
-

MDK-ARM/.vscode/uv4.log

@@ -1,10 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling shoot.cpp...
+compiling calc_lib.c...
-compiling ballTask.cpp...
-compiling ball.cpp...
 linking...
-Program Size: Code=30080 RO-data=1828 RW-data=268 ZI-data=32660  
+Program Size: Code=30644 RO-data=1884 RW-data=5816 ZI-data=33280  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:07
+Build Time Elapsed:  00:00:03

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

@@ -1 +1 @@
-2025/6/16 19:22:49
+2025/6/14 22:01:44

MDK-ARM/R1.uvoptx

@@ -153,7 +153,24 @@
           <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>82</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -188,17 +205,12 @@
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>task_struct,0x0A</ItemText>
+          <ItemText>knob_increment</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>aaa,0x0A</ItemText>
+          <ItemText>task_struct,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>wzcsb,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -959,7 +971,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1051,7 +1063,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1095,7 +1107,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/bsp/TopDefine.h

@@ -18,10 +18,10 @@
 #ifndef DT7
 #define DT7 0
 #endif
-// //是否使用三摩擦
+//是否使用三摩擦
-// #ifndef HANDLING3
+#ifndef HANDLING3
-// #define HANDLING3 1
+#define HANDLING3 1
-// #endif
+#endif
 //云台使用类型
 #ifndef GM6020ING
 #define GM6020ING 1

User/device/nuc.c

@@ -68,7 +68,7 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
 
   return DEVICE_OK; // 发送成功
 }
-int wzcsb=0;
+
 int8_t NUC_RawParse(NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
@@ -101,10 +101,10 @@ int8_t NUC_RawParse(NUC_t *n) {
       instance.data[0] = nucbuf[3];
       n->vision.x = instance.x[0];
 
-      instance.data[7] = nucbuf[10];
+      instance.data[7] = nucbuf[7];
-      instance.data[6] = nucbuf[9];
+      instance.data[6] = nucbuf[8];
-      instance.data[5] = nucbuf[8];
+      instance.data[5] = nucbuf[9];
-      instance.data[4] = nucbuf[7];
+      instance.data[4] = nucbuf[10];
       n->vision.y = instance.x[1];
 
       instance.data[11] = nucbuf[11];
@@ -119,7 +119,6 @@ int8_t NUC_RawParse(NUC_t *n) {
 
 
 error:
-  wzcsb++;
   return DEVICE_ERR;
 }
 

User/module/ball.cpp

@@ -8,6 +8,10 @@
 
 extern RC_ctrl_t rc_ctrl;
 extern int key;
+extern int16_t M2006_result;
+
+// C键 sw[5]👆 1800   中1000  👇200
+// D键 sw[6]👆 200   👇1800
 
 //伸缩
 #define M_SPEED 4000
@@ -16,10 +20,20 @@ extern int key;
 #define O_ANGLE1 340
 #define O_ANGLE2 -240
 
+// 三摩擦轮电机
+#define M_SPEED1 3000
+#define M_BACK -4000
 
+#if HANDLING3 == 1
+//三摩擦轮运球！！！
+//添加平移3508 得跑位置吧
+
+const fp32 Ball:: M3508_speed_PID[3] = {30, 0.03, 0};
 const fp32 Ball:: Extend_speed_PID[3] = { 40, 0.0, 0.1};
 const fp32 Ball:: Extend_angle_PID[3]=  { 25, 0.1, 0};
 
+//摩擦轮转速
+int speedm=0;
 
 //PE11 气缸
 
@@ -27,6 +41,19 @@ Ball ::Ball()
 {  
    detect_init();
 
+ //三摩擦轮
+   for(int i = 0;i < MOTOR_NUM;i ++)
+ {
+    hand_Motor[i] = get_motor_point(i);  
+    if(i <=3)
+    {
+        hand_Motor[i]->type = M3508;//设置电机类型
+        PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 10000);//pid初始化
+    }  
+    result[i] = 0;
+    speedSet[i] = 0;    
+ }
+
    //两个伸缩6020 左207 右208
    Extern_Motor[0] = get_motor_point(6);
    Extern_Motor[1] = get_motor_point(7);
@@ -70,44 +97,34 @@ void Ball ::Extend_mcontrol(int angle1,int angle2)
 }
 
 
-
+void Ball ::Spin()
-// E键 sw[1]  👆 200 shoot  中 1000 stop sw[2]👇1800 
-// G键 sw[6]👆 1800  中 1000 👇200
-//     sw[5] 👆 200 👇1800
-//左旋 sw[7] 200 --1800
-void Ball::rc_mode()
 {
-    if(rc_ctrl.sw[6]==1800)
-    {
-        rc_key=UP2;
-    }
-     if(rc_ctrl.sw[6]==1000)
-    {
-        rc_key=MIDDLE2;
-    }
-     if(rc_ctrl.sw[6]==200)
-    {
-        rc_key=DOWN2;
-    }
 
-    if(rc_ctrl.sw[5]==200)
+    speedSet[MOTOR_1] = speed_set;
-    {
+    result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
-      extern_key=IN;  
+
-    }
+    speedSet[MOTOR_2] = speed_set;
-    if(rc_ctrl.sw[5]==1800)
+    result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);
-    {
+
-      extern_key=OUT;  
+    speedSet[MOTOR_3] = speed_set;
-    }
+    result[MOTOR_3] = PID_calc(&speed_pid[MOTOR_3],hand_Motor[MOTOR_3]->speed_rpm,speedSet[MOTOR_3]);
+
+}
+
+void Ball::ballDown(void)
+{
+     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
+     speed_set=500;
 
 }
 
 void Ball::Move_Extend(void)
 {
-    if(extern_key==IN) 
+    if(rc_ctrl.sw[6] == 200) // 左拨杆上
     {
         Extend_mcontrol(I_ANGLE1, I_ANGLE2); // 内伸
     }
-    else if(extern_key==OUT) 
+    else if(rc_ctrl.sw[6] == 1800) // 左拨杆下
     {
         Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸
     }
@@ -117,24 +134,45 @@ void Ball::Move_Extend(void)
     }
 }
 
-void Ball::ballDown(void)
+// C键 sw[5]👆 200   中1000  👇1800
+// D键 sw[6]👆 200   👇1800
+void Ball::rc_mode()
 {
+    if(rc_ctrl.sw[5]==200)
+    {
+        rc_key=UP2;
+    }
+     if(rc_ctrl.sw[5]==1000)
+    {
+        rc_key=MIDDLE2;
+    }
+     if(rc_ctrl.sw[5]==1800)
+    {
+        rc_key=DOWN2;
+    }
 
-    HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
+    if(rc_ctrl.sw[6]==200)
-    HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+    {
+      extern_key=IN;  
+    }
+    if(rc_ctrl.sw[6]==1800)
+    {
+      extern_key=OUT;  
+    }
 
 }
 
+
 void Ball::ball_control()
 {
-    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
+    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 有球 1 无球 0
 
     Move_Extend();
 
     switch (rc_key){
         case MIDDLE2:
-       HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); //确保爪气缸关闭 
+        speed_set=0;
-       HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭   
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸          
         if (currentState1 == BALL_FINISH)
         {
             currentState1 = BALL_IDLE;
@@ -145,7 +183,7 @@ void Ball::ball_control()
         break;
 
        case UP2: 
-        ballHadling();
+        Three_Handing();
         break;
 
         case DOWN2: 
@@ -155,37 +193,99 @@ void Ball::ball_control()
 
     }
 
+    Spin(); 
+
     Send_control(); 
 
 }
 
+void Ball::Three_Handing()
+{
+    switch (currentState1){
+    case BALL_IDLE:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸          
+        currentState1 = BALL_FORWARD; // 切换到正转状态
+
+        break;
+    case BALL_FORWARD:
+        speed_set=M_SPEED1;
+        if(is_reached_multiple(hand_Motor[MOTOR_1]->speed_rpm,
+                            hand_Motor[MOTOR_2]->speed_rpm,
+                            hand_Motor[MOTOR_3]->speed_rpm,
+                            speed_set,
+                            speed_set,
+                            speed_set,
+                            50.f,50))
+        {
+          currentState1 = BALL_DROP; // 切换到球下落状态  
+        }
+       break;
+
+    case BALL_DROP:
+      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸
+            if (ball_state == 0) // 读光电 有球 1  无球 0
+        {
+            osDelay(200); // 延时200ms
+            speed_set = M_BACK;
+            currentState1 = BALL_REVERSE; // 切换到反转状态
+        }
+        break;
+    case BALL_REVERSE:
+        if (ball_state == 1)
+        {
+            speed_set = 0;
+            currentState1 = BALL_CLOSE; // 切换到完成状态
+        }
+        break;
+    case BALL_CLOSE:
+        if(ball_state == 1)
+        {
+            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+            currentState1 = BALL_FINISH; // 切换到完成状态
+
+        } 
+    case BALL_FINISH:
+        key = 0; // 重置按键状态
+        speed_set = 0;
+        osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
+        //currentState1 = BALL_IDLE; // 直接回到空闲状态
+        break;       
+    default:
+          currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;    
+
+    }
+}
 
 void Ball::Send_control()
 {
+    CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
+    osDelay(1);
 
-    CAN_cmd_1FF(0,0,e_result[0],e_result[1],&hcan1);
+    CAN_cmd_1FF(M2006_result,0,e_result[0],e_result[1],&hcan1);
     osDelay(1);
 
 }
 
+#else
 
  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)
 {
   
+    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态（有球 0，无球 1）
+
     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(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合
-       HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 
+        if (key > 0) // 检测按键是否被按下
-        if (key > 0 ||rc_key == UP2) // 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; 
+            currentState1 = BALL_FORWARD; // 切换到正转状态
         }
         break;
 
@@ -226,19 +326,17 @@ void Ball::ballHadling(void)
         {
             osDelay(100); // 延时去抖
             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
+            currentState1 = BALL_REVERSE; // 切换到反转状态
         }
         break;
 
-    case BALL_FINISH:
+    case BALL_REVERSE:
         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
-        //currentState1 = BALL_IDLE; // 回到空闲状态
-
         break;
 
     default:
@@ -246,4 +344,5 @@ void Ball::ballHadling(void)
         break;
     }
 }   
+ #endif
 

User/module/ball.hpp

@@ -14,9 +14,9 @@
 // 定义状态枚举
 typedef enum {
     BALL_IDLE,         // 空闲状态
-    BALL_FORWARD,      // 
+    BALL_FORWARD,      // 正转状态
-    BALL_DROP,         // 
+    BALL_DROP,         // 球下落状态
-    BALL_REVERSE,      //
+    BALL_REVERSE,      // 反转状态
     BALL_FLAG,
     BALL_CLOSE,         // 关闭状态
     BALL_FINISH,        // 完成状态
@@ -52,23 +52,28 @@ class Ball
 {
 public:
     Ball();
+    void Spin(void);
     void ballHadling(void);
     void ballDown(void);
     void Send_control(void);
+    void ballStop(void);
     void Move_Extend(void);
     void rc_mode(void);
     void Extend_mcontrol(int angle1,int angle2);
+    void Three_Handing(void);
     void ball_control(void);
   
     BallState_t currentState1; // 当前状态
-      int flag;//暂时还没用到
+    int flag;//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];
 
-
+    float speed_set;
+    int16_t result[MOTOR_NUM];
+    motor_measure_t *hand_Motor[MOTOR_NUM];
 //==========================公共变量==========================//
     int16_t rc_key; //遥控器按键
     int16_t extern_key;
@@ -78,14 +83,23 @@ public:
 
 private:  
 
+    //三个摩擦轮
+    static const float M3508_speed_PID[3];
+    static const float M3508_angle_PID[3];
+
     static const float Extend_speed_PID[3];
     static const float Extend_angle_PID[3]; 
 
+    //电机速度pid结构体
+    pid_type_def speed_pid[MOTOR_NUM];
+    //位置环pid
+    pid_type_def angle_pid[MOTOR_NUM];
+
     pid_type_def extend_speed_pid[2];
     pid_type_def extend_angle_pid[2];
 
     float angleSet[2];
-    
+    float speedSet[MOTOR_NUM];
 };
 
 #endif

User/module/shoot.cpp

@@ -26,17 +26,18 @@ const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0, 0.1};
 #define INIT_POS -130
 #define TOP_POS -210
 #define GO_ERROR 1.0f 
-#define Tigger_DO -10  
+#define Tigger_DO -5  
 #define Tigger_ZERO 100 
 #define Tigger_ERROR 3
 
-
+//💩
+int16_t M2006_result =0;
 float knob_increment;
 
 Shoot::Shoot()
 {
     //扳机初始化
-    trigger_Motor= get_motor_point(0);//id 201
+    trigger_Motor= get_motor_point(4);//id 205
     trigger_Motor->type=M2006;
     PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,3000, 2000);//pid初始化
     PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,3000, 2000);//pid初始化
@@ -68,16 +69,16 @@ void Shoot::trigger_control()
     int delta = 0;
     delta = PID_calc(&angle_pid,trigger_Motor->total_angle,t_posSet); // 计算位置环PID
     result = PID_calc(&speed_pid,trigger_Motor->speed_rpm,delta); // 计算速度环PID
-
+    M2006_result=result;
-
+   // result = PID_calc(&speed_pid,trigger_Motor->speed_rpm,t_speedSet);
-    CAN_cmd_200(result,0,0,0,&hcan1);
+   // CAN_cmd_1FF(result,0,0,0,&hcan1);
 }
 
 
 void Shoot :: distanceGet(const NUC_t &nuc_v)
 {
 
-    distance=nuc_v.vision.x; // 获取自瞄数据
+    //test_distance=nuc_v.vision.x; // 获取自瞄数据
 
 }
 
@@ -114,47 +115,36 @@ int Shoot::GO_SendData(float pos,float limit)
     return 0;
 }
 
-// F键 sw[0]👆 1800    👇200 
+//E键 sw[1]👆 200 shoot  中 1000 stop 👇1800  error
-// E键 sw[1]  👆 200 shoot  中 1000 stop  sw[2]200  sw[2]👇1800 
-// G键 sw[6]👆 1800  中 1000 👇200
-//左旋 sw[7] 200 --1800
 void Shoot::rc_mode()
 {
      if(rc_ctrl.sw[1]==200)
     {
         rc_key=UP1;
     }
-     if(rc_ctrl.sw[1]==1800 && rc_ctrl.sw[2]==200)
+     if(rc_ctrl.sw[1]==1000)
     {
         rc_key=MIDDLE1;
     }
-     if(rc_ctrl.sw[2]==1800 && rc_ctrl.sw[1]==1800)
+     if(rc_ctrl.sw[1]==1800)
     {
         rc_key=DOWN1;
     }
-    if(rc_ctrl.sw[0]==1800)
-    {
-        mode_key=TEST;  
-    }
-    if(rc_ctrl.sw[0]==200)
-    {
-        mode_key=VSION;  
-    }
 
-    // if(rc_ctrl.sw[7]==200)
+    if(rc_ctrl.sw[7]==200)
-    // {
+    {
-    //   trigger_key=WAIT;  
+      trigger_key=WAIT;  
-    // }
+    }
-    // if(rc_ctrl.sw[7]==1800)
+    if(rc_ctrl.sw[7]==1800)
-    // {
+    {
-    //   trigger_key=SHOOT;  
+      trigger_key=SHOOT;  
-    // }
+    }
 
     //knob_increment=rc_ctrl.ch[2]/150;
 
     //旋钮增量
     static int last_knob_value = 0; // 记录旋钮的上一次值
-    int current_knob_value = rc_ctrl.sw[7]; // 获取当前旋钮值
+    int current_knob_value = rc_ctrl.sw[4]; // 获取当前旋钮值
 
     // 计算旋钮增量
     if (current_knob_value >= 200 && current_knob_value <= 1800) {
@@ -166,51 +156,15 @@ void Shoot::rc_mode()
 
 }
 
+
 void Shoot::shoot_control() {
 
     //方便调试
     feedback.fd_gopos = go1_data->Pos; 
     feedback.fd_tpos = trigger_Motor->total_angle;
- switch (mode_key)
-    {
-    case VSION:
-      switch (rc_key) {
-       case DOWN1:
       
-        control_pos = INIT_POS; // 默认中间挡位位置
-        //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
-        fire_pos = distance; // 视觉拟合的力
-        go1.Pos = fire_pos; // 设置蓄力电机位置
-        t_posSet = Tigger_ZERO; // 扳机松开
-
-        if (currentState == SHOOT_READY) {
-            // 如果当前状态是准备发射，松开钩子发射
-            t_posSet = Tigger_ZERO; // 扳机扣动
-            BSP_Buzzer_Stop();
-            if (t_posSet >= 95) { // 假设120度为发射完成角度
-                currentState = SHOOT_IDLE; // 切换到空闲状态
-                is_hooked = false; // 重置钩子状态
-            }
-        } else {
-            currentState = SHOOT_IDLE; // 默认回到空闲状态
-        }
-        break;
-
-    case MIDDLE1:
-        shoot_Current();
-        break;
-
-    case UP1:
-       RemoveError();
-        break;
-
-    default:
-        break;
-    }
-break;
-   case TEST:
     switch (rc_key) {
-       case DOWN1:
+    case DOWN1:
        
         control_pos = INIT_POS; // 默认中间挡位位置
         //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
@@ -243,13 +197,6 @@ break;
         break;
     }
 
-break;       
-    
-    default:
-        break;
-    }     
-    
-
     // 发送数据到蓄力电机
     GO_SendData(go1.Pos, 5.0f);
 
@@ -273,7 +220,7 @@ void Shoot :: shoot_Current()
 
         case SHOOT_TOP:
             t_posSet = Tigger_DO; // 扳机扣动钩住
-            if (trigger_Motor->total_angle<-6) 
+            if (trigger_Motor->total_angle<-2) 
             { 
                 //判定为钩住
                 is_hooked = true; // 标记钩子已钩住
@@ -287,7 +234,7 @@ void Shoot :: shoot_Current()
                 go1.Pos = fire_pos; // 下拉到中间挡位位置
                 if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) {
                   BSP_Buzzer_Start();			
-		          BSP_Buzzer_Set(1,5000);
+		         // BSP_Buzzer_Set(1,5000);
               //   see_you_again();
                     //currentState = SHOOT_WAIT; // 等待发射信号
                     //在拨杆切换时触发了

User/module/shoot.hpp

@@ -33,9 +33,7 @@ typedef enum
     MIDDLE1,
     DOWN1,
     SHOOT,
-    WAIT,
+    WAIT
-    TEST,
-    VSION
 }rc_mode;
 
 // 光电传感器读取宏
@@ -79,12 +77,11 @@ public:
 
     //==========================公共变量==========================
     int16_t rc_key; //遥控器按键
-    int16_t mode_key;
     int16_t trigger_key;
     ShootState_t currentState; //状态机
     //volatile BallState_t ballStatus;//是否有球
     volatile uint32_t flag_thread;//接收传回的线程通知
-    fp32 distance;   //视觉距离
+    float distance;   //视觉距离
 
 private:
     //扳机2006

User/task/ballTask.cpp

@@ -10,6 +10,15 @@ extern RC_ctrl_t rc_ctrl;
 Ball ball;
 //float vofa[8];
 
+
+// C键 sw[5]👆 1800   中1000  👇200
+// D键 sw[6]👆 200 外伸   👇1800 归位  //三摩擦架子
+// H键 sw[7]👆 200   👇1800  //取球
+
+int angle1=330;
+int angle2=-240;
+int test111=0;
+
 //检查光电
 int abc=0;
 
@@ -28,14 +37,19 @@ void FunctionBall(void *argument)
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
 
-    abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+  abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
 
     ball.rc_mode(); // 遥控器模式  
     
     ball.ball_control(); // 控制球的动作    
 
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
+      // vofa[0] = -speedm; // 发送电机角度数据
-    osDelayUntil(tick);
+      // vofa[1] = ball.hand_Motor[0]->speed_rpm; // 发送电机角度数据
+      // vofa[2] = -ball.hand_Motor[1]->speed_rpm; // 发送电机速度数据
+      // vofa[3] = -ball.hand_Motor[2]->speed_rpm; // 发送电机速度数据
+      // vofa_tx_main(vofa); // 发送数据到虚拟串口
 
+        tick += delay_tick; /* 计算下一个唤醒时刻 */
+        osDelayUntil(tick);
     }
 }

User/task/shootTask.cpp

@@ -10,8 +10,15 @@ extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
 NUC_t nucData; // 自瞄
 
+int shoot_flag = 0;
+
+int a2;
+
 int goangle=0;
 
+//E键 sw[0]👆 200  中 1000 👇1800
+//F键 sw[1]👆 1800   👇200
+
 void FunctionShoot(void *argument)
 {
 	(void)argument; /* 未使用argument，消除警告 */
@@ -32,17 +39,19 @@ while(1)
 
 	if(shoot.flag_thread & BALL_OK)
 	{
-		
+		a2=2;
 	}
 
+
+	shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
+
 	if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
 	{
 		shoot.distanceGet(nucData);
 	}
 
+	//shoot.GO_SendData(goangle,5);
 	shoot.shoot_control();
-//  shoot.GO_SendData(goangle,5);
-//  shoot.shoot_control();
 //	shoot.t_posSet=goangle;
 //	shoot.trigger_control();