拨杆+码盘

Core/Inc/main.h

@@ -79,6 +79,9 @@ void Error_Handler(void);
 #define CLOSE_GPIO_Port GPIOE
 #define DOWN_Pin GPIO_PIN_11
 #define DOWN_GPIO_Port GPIOE
+#define TEST_Pin GPIO_PIN_12
+#define TEST_GPIO_Port GPIOB
+#define TEST_EXTI_IRQn EXTI15_10_IRQn
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/stm32f4xx_it.h

@@ -60,6 +60,7 @@ void EXTI9_5_IRQHandler(void);
 void TIM1_UP_TIM10_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART3_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);

Core/Src/gpio.c

@@ -93,6 +93,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : TEST_Pin */
+  GPIO_InitStruct.Pin = TEST_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(TEST_GPIO_Port, &GPIO_InitStruct);
+
   /* EXTI interrupt init*/
   HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI0_IRQn);
@@ -100,6 +106,9 @@ void MX_GPIO_Init(void)
   HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
 }
 
 /* USER CODE BEGIN 2 */

Core/Src/stm32f4xx_it.c

@@ -292,6 +292,20 @@ void USART1_IRQHandler(void)
 //  /* USER CODE END USART3_IRQn 1 */
 //}
 
+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(TEST_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA2 stream1 global interrupt.
   */

MDK-ARM/.vscode/c_cpp_properties.json

@@ -3,26 +3,26 @@
         {
             "name": "R1",
             "includePath": [
-                "d:\\Desktop\\r1\\R1_up\\Core\\Inc",
+                "d:\\Desktop\\r1\\运球\\Core\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\Desktop\\r1\\运球\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\Desktop\\r1\\运球\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\Desktop\\r1\\运球\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\Desktop\\r1\\运球\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\Desktop\\r1\\运球\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\Desktop\\r1\\运球\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Include",
+                "d:\\Desktop\\r1\\运球\\Drivers\\CMSIS\\Include",
-                "d:\\Desktop\\r1\\R1_up\\User\\bsp",
+                "d:\\Desktop\\r1\\运球\\User\\bsp",
-                "d:\\Desktop\\r1\\R1_up\\User\\module",
+                "d:\\Desktop\\r1\\运球\\User\\module",
-                "d:\\Desktop\\r1\\R1_up\\User\\task",
+                "d:\\Desktop\\r1\\运球\\User\\task",
-                "d:\\Desktop\\r1\\R1_up\\User\\lib",
+                "d:\\Desktop\\r1\\运球\\User\\lib",
-                "d:\\Desktop\\r1\\R1_up\\User\\device",
+                "d:\\Desktop\\r1\\运球\\User\\device",
                 "D:\\keil\\ARM\\ARMCC\\include",
                 "D:\\keil\\ARM\\ARMCC\\include\\rw",
-                "d:\\Desktop\\r1\\R1_up\\MDK-ARM",
+                "d:\\Desktop\\r1\\运球\\MDK-ARM",
-                "d:\\Desktop\\r1\\R1_up\\Core\\Src",
+                "d:\\Desktop\\r1\\运球\\Core\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\Desktop\\r1\\运球\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\Desktop\\r1\\运球\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+                "d:\\Desktop\\r1\\运球\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
             ],
             "defines": [
                 "USE_HAL_DRIVER",

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

@@ -76,5 +76,13 @@
 
 [info] Log at : 2025/6/26|03:33:46|GMT+0800
 
-[info] Log at : 2025/6/26|15:46:24|GMT+0800
+<<<<<<< HEAD
+[info] Log at : 2025/6/27|10:05:14|GMT+0800
+
+[info] Log at : 2025/6/27|23:24:18|GMT+0800
+
+[info] Log at : 2025/6/28|01:53:31|GMT+0800
+=======
+[info] Log at : 2025/6/26|15:46:24|GMT+0800
+>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
 

MDK-ARM/.vscode/uv4.log

@@ -1,8 +1,18 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
+<<<<<<< HEAD
+compiling ballTask.cpp...
+compiling ball.cpp...
+linking...
+Program Size: Code=28860 RO-data=1832 RW-data=276 ZI-data=32252  
+FromELF: creating hex file...
+"R1\R1.axf" - 0 Error(s), 0 Warning(s).
+Build Time Elapsed:  00:00:05
+=======
 compiling ball.cpp...
 linking...
 Program Size: Code=31096 RO-data=1832 RW-data=276 ZI-data=32252  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
 Build Time Elapsed:  00:00:04
+>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

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

@@ -1 +1,5 @@
-2025/6/26 4:03:58
+<<<<<<< HEAD
+2025/6/28 2:01:18
+=======
+2025/6/26 4:03:58
+>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b

MDK-ARM/R1.uvoptx

@@ -158,7 +158,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -185,6 +185,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>nuc_v</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>test_exit,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ttttt1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball_exit,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow4>
         <Mm>
@@ -952,7 +967,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1044,7 +1059,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1076,7 +1091,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/README.md

@@ -41,3 +41,5 @@ r1上层
   + 👇  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
+
++ 运球赛专属简单代码

R1.ioc

@@ -153,20 +153,21 @@ Mcu.Pin22=PD14
 Mcu.Pin23=PA0-WKUP
 Mcu.Pin24=PE13
 Mcu.Pin25=PE11
-Mcu.Pin26=PA7
+Mcu.Pin26=PB12
-Mcu.Pin27=VP_CRC_VS_CRC
+Mcu.Pin27=PA7
-Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin28=VP_CRC_VS_CRC
-Mcu.Pin29=VP_SYS_VS_Systick
+Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
 Mcu.Pin3=PB3
-Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
-Mcu.Pin31=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin31=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin4=PA14
 Mcu.Pin5=PA13
 Mcu.Pin6=PB7
 Mcu.Pin7=PB6
 Mcu.Pin8=PD0
 Mcu.Pin9=PC11
-Mcu.PinsNb=32
+Mcu.PinsNb=33
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -184,6 +185,7 @@ NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -218,6 +220,12 @@ PA7.Signal=SPI1_MOSI
 PA9.Locked=true
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
+PB12.GPIO_Label=TEST
+PB12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING
+PB12.GPIO_PuPd=GPIO_PULLDOWN
+PB12.Locked=true
+PB12.Signal=GPXTI12
 PB3.GPIOParameters=GPIO_PuPd
 PB3.GPIO_PuPd=GPIO_PULLUP
 PB3.Mode=Full_Duplex_Master
@@ -369,6 +377,8 @@ RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 SH.GPXTI0.0=GPIO_EXTI0
 SH.GPXTI0.ConfNb=1
+SH.GPXTI12.0=GPIO_EXTI12
+SH.GPXTI12.ConfNb=1
 SH.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1

User/device/detect.c

@@ -3,6 +3,7 @@
 #include "bsp_delay.h"
 int key=0;
 int ball_exit=0;
+int test_exit=0;
 
 // 按键中断回调函数
 void detect_exit(void)
@@ -15,17 +16,28 @@ void detect_exit(void)
 void detect_ball(void)
 {
 
-    ball_exit++; // 按键按下时变量自增
+    // ball_exit++; // 按键按下时变量自增
     __HAL_GPIO_EXTI_CLEAR_IT(BALL_Pin); // 清除中断标志位
 }
 
+void detect_test(void)
+{
+    delay_ms(10); // 延时10ms
+    if(HAL_GPIO_ReadPin(TEST_GPIO_Port, TEST_Pin) == GPIO_PIN_RESET)
+    {
+      ball_exit++; 
+    }
 
 
+    __HAL_GPIO_EXTI_CLEAR_IT(TEST_Pin); // 清除中断标志位
+}
+
 void detect_init(void)
 {
 
     BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
     BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball);
+    BSP_GPIO_RegisterCallback(TEST_Pin, detect_test);
 
     // // 启用按键中断
     // if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {

User/module/ball.cpp

@@ -48,6 +48,7 @@ Ball ::Ball()
 // E键 sw[1]  👆 200 shoot  中 1000 stop sw[2]👇1800 
 // G键 sw[6]👆 200  中 1000 👇1800
 //     sw[5] 👆 200 👇1800
+// H键 sw[6] 👆200 👇1800     
 //左旋 sw[7] 200 --1800
 
 int last_sw5 = 1800; // 上一次拨杆状态
@@ -76,17 +77,14 @@ void Ball::rc_mode()
       extern_key=OUT;  
     }
 
-    if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
+    if(rc_ctrl.sw[5]==1800)
     {
-        rc_key = DOWN2;
+       ready_key=SIDE; 
     }
-    else
+    if(rc_ctrl.sw[5]==200)
     {
-        rc_key = 0; // 其他情况不触发
+         ready_key=0; //默认不准备
     }
-    last_sw5 = rc_ctrl.sw[5];
-
-
 }
 
 void Ball::Send_control()
@@ -119,22 +117,256 @@ void Ball::Move_Extend()
     }
 }
 
+// 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(TEST_GPIO_Port, TEST_Pin); // 读取光电状态(有球 0，无球 1)
+
+//      Move_Extend();
+
+//         switch (rc_key){
+//         case MIDDLE2:
+//        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 (currentState1 == BALL_FINISH)
+//         {
+//             currentState1 = BALL_IDLE;
+//         }
+//         else {
+//              currentState1 = BALL_IDLE; // 默认回到空闲状态
+//         }
+//         break;
+
+//        case UP2: 
+//         //ballDown();
+//         //Close();
+//         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 (currentState1 == BALL_FINISH)
+//         {
+//             currentState1 = BALL_IDLE;
+//         }
+//         else {
+//              currentState1 = BALL_IDLE; // 默认回到空闲状态
+//         }
+//         break;
+        
+
+//         case DOWN2: 
+
+//         ballHadling();
+
+
+//         break;
+
+//     }
+
+//     Send_control(); 
+
+// }
+
+ //int ball_state = 0;
+ int last_ball_state = 0; // 上一次的光电状态
+ int step = 0; // 0:持球 1:击球 2:反弹 3:完全离开
+
 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)
+    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
 
-    Move_Extend();
+     Move_Extend();
 
+    switch (rc_key){
+        case MIDDLE2:
+       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 (currentState1 == BALL_FINISH)
+        {
+            currentState1 = BALL_IDLE;
+        }
+        else {
+             currentState1 = BALL_IDLE; // 默认回到空闲状态
+        }
+        break;
 
-    ballHadling_two(); // 执行运球处理
+       case UP2: 
+        ballDown();
+        break;
+
+        case DOWN2: 
+        ballHadling();
+        //test_Handling();
+
+        break;
+
+    }
 
     Send_control(); 
 
 }
 
+void Ball::Close(void)
+{
+    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
+    currentState1 = BALL_IDLE; // 回到空闲状态 
+}
 
- int ball_state = 0;
+void Ball::Hadling(void)
- int last_ball_state = 0; // 上一次的光电状态
+{
+    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)
+        {
+            ball_exit = 0; // 进入流程时清零
+            currentState1 = BALL_FORWARD; 
+        }
+        break;
+
+    case BALL_FORWARD:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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
+        // 只响应第一次边沿
+        if (ball_exit == 1)
+        {
+            currentState1 = BALL_FLAG;
+        }
+        break;
+    }
+}
+
+void Ball::exit_Handling(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)
+        {
+            ball_exit = 0; // 进入流程时清零
+            currentState1 = BALL_FORWARD; 
+        }
+        break;
+
+    case BALL_FORWARD:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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
+        // 只响应第一次边沿
+        if (ball_exit == 1)
+        {
+            currentState1 = BALL_FLAG;
+        }
+        break;
+
+    case BALL_FLAG:
+        //osDelay(10); // 延时 10ms
+        // 只响应第二次边沿
+        if (ball_exit == 3)
+        {
+            currentState1 = BALL_CLOSE;
+        }
+        break;
+
+    case BALL_CLOSE:
+        osDelay(25); 
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH; // 切换到反转状态
+        break;
+
+    case BALL_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
+        ball_exit = 0; // 流程完成后清零
+        break;
+
+    default:
+        currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;
+    }
+}
+
+
+
+void Ball::test_up(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
+        {
+            step = 0;
+            currentState1 = BALL_FORWARD; 
+        }
+        break;
+
+    case BALL_FORWARD:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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(50); // 延时 100ms
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
+
+        // 步骤0：等待球离开（持球->无球）
+        if (step == 0 && ball_state == 1 && last_ball_state == 0)
+        {
+            step = 1;
+        }
+        // 步骤1：等待球反弹回来（无球->持球）
+        else if (step == 1 && ball_state == 0 && last_ball_state == 1)
+        {
+            step = 2;
+        }
+        // 步骤2：等待球完全上升离开（持球->无球）
+        else if (step == 2 && ball_state == 1 && last_ball_state == 0)
+        {
+            step = 3;
+            currentState1 = BALL_CLOSE; // 进入闭合气缸
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_CLOSE:
+        //osDelay(25); 
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH; // 切换到完成状态
+        break;
+
+    case BALL_FINISH:
+        osDelay(50); // 延时 50ms
+        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; // 可选：回到空闲状态
+        break;
+
+    default:
+        currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;
+    }
+} 
 
 void Ball::ballHadling(void)
 {
@@ -179,8 +411,7 @@ void Ball::ballHadling(void)
         break;
 
     case BALL_CLOSE:
-
+            osDelay(100); 
-            osDelay(25); 
             HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
             currentState1 = BALL_FINISH; // 切换到反转状态
         break;

User/module/ball.hpp

@@ -57,6 +57,10 @@ public:
     void rc_mode(void);
     void ballHadling_two(void);
     void ball_control(void);
+    void exit_Handling(void);
+    void Hadling(void);
+    void Close(void);
+    void test_up(void);
   
     BallState_t currentState1; // 运球任务状态机
       int flag_thread;//暂时还没用到

User/task/ballTask.cpp

@@ -39,12 +39,6 @@ void FunctionBall(void *argument)
     
      ball.ball_control(); // 控制球的动作    
 
-//        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保气缸爪子闭合
-//        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);   // 确保下气缸关闭
-
-    // ball.xiaomi.position = aaaa; 
-    // CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
-
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     osDelayUntil(tick);
     

User/task/shootTask.cpp

@@ -33,15 +33,8 @@ while(1)
 		shoot.distanceGet(nucData);
 	}
 
-	shoot.shoot_control();
+	// 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);