调整了运球的延时

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

@@ -74,3 +74,11 @@
 
 [info] Log at : 2025/6/25|19:23:57|GMT+0800
 
+[info] Log at : 2025/6/27|11:41:11|GMT+0800
+
+[info] Log at : 2025/6/27|15:32:00|GMT+0800
+
+[info] Log at : 2025/6/27|18:43:18|GMT+0800
+
+[info] Log at : 2025/6/28|01:19:54|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 shootTask.cpp...
-compiling shoot.cpp...
 compiling ball.cpp...
 linking...
-Program Size: Code=31644 RO-data=1832 RW-data=268 ZI-data=32252  
+Program Size: Code=31188 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:  00:00:06

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

@@ -1 +1 @@
-2025/6/26 3:22:31
+2025/6/28 1:27:37

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>
@@ -173,17 +173,7 @@
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball_exit,0x0A</ItemText>
+          <ItemText>nuc_v,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>nuc_v</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -952,7 +942,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/README.md

@@ -36,8 +36,22 @@ r1上层
   + 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

User/bsp/TopDefine.h

@@ -16,10 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
-
-
-
 
 //是否使用大疆DT7遥控器
 #ifndef DT7
@@ -43,6 +40,8 @@
 #define HANDING_FINISH (1<<2)
 //伸缩结束
 #define EXTEND_OK	(1<<3)
+//等待ok
+#define WAIT_OK		(1<<4)
 
 //要发送ok了
 #define BALL_SEND (1<<6)

User/module/ball.cpp

@@ -12,7 +12,7 @@ extern int ball_exit;
 // 伸缩
 #define I_ANGLE 147
 #define O_ANGLE 187
-#define WAIT_POS 165
+#define WAIT_POS 170
 
 // PE11 气缸
 
@@ -27,7 +27,7 @@ Ball ::Ball()
     xiaomi.position = I_ANGLE; //
     xiaomi.speed = 25;         //
     xiaomi.K_P = 80;           // 位置增益
-    xiaomi.K_D      =20;    // 位置阻尼
+    xiaomi.K_D = 50;           // 位置阻尼
     xiaomi.K_C = 12;           // 力矩
     xiaomi.Pmax = 1;           // 好像没啥用
 
@@ -41,10 +41,8 @@ Ball ::Ball()
 
     // 状态机状态初始化
     currentState1 = BALL_IDLE;
-
 }
 
-
 // E键 sw[1]  👆 200 shoot  中 1000 stop sw[2]👇1800
 // G键 sw[6]👆 200  中 1000 👇1800
 //     sw[5] 👆 200 👇1800
@@ -88,7 +86,6 @@ void Ball::Send_control()
 
     CAN_XiaoMi(1, &xiaomi, &hcan2);
     osDelay(1);
-
 }
 
 #if ONE_CONTROL == 0
@@ -98,7 +95,6 @@ void Ball::ballDown(void)
 
     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_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
-
 }
 
 void Ball::Move_Extend()
@@ -119,7 +115,8 @@ void Ball::ball_control()
 
     Move_Extend();
 
-    switch (rc_key){
+    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
@@ -127,7 +124,8 @@ void Ball::ball_control()
         {
             currentState1 = BALL_IDLE;
         }
-        else {
+        else
+        {
             currentState1 = BALL_IDLE; // 默认回到空闲状态
         }
         break;
@@ -138,17 +136,13 @@ void Ball::ball_control()
 
     case DOWN2:
         ballHadling();
-        //test_Handling();
 
         break;
-
     }
 
     Send_control();
-
 }
 
-
 int ball_state = 0;
 int last_ball_state = 0; // 上一次的光电状态
 
@@ -162,8 +156,6 @@ 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
         {
-          
-         
             currentState1 = BALL_FORWARD;
         }
         break;
@@ -197,8 +189,7 @@ 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;
@@ -216,12 +207,8 @@ void Ball::ballHadling(void)
         currentState1 = BALL_IDLE; // 默认回到空闲状态
         break;
     }
-
-    
 }
 
-
-
 #endif
 
 #if ONE_CONTROL
@@ -234,7 +221,8 @@ void Ball::ball_control()
     // 进攻
     if (ready_key == SIDE)
     {
-            switch (rc_key){
+        switch (rc_key)
+        {
         case MIDDLE2:
             Idle_control();
             break;
@@ -246,7 +234,6 @@ void Ball::ball_control()
         case DOWN2:
             ballHadling();
             break;
-
         }
     }
     // 防守
@@ -255,16 +242,12 @@ void Ball::ball_control()
         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
-
     }
 
-
+    // 发送小米电机控制数据
-
     Send_control();
-
 }
 
-
 // 任务通知来作全过程
 
 void Ball::ballDown(void)
@@ -280,6 +263,7 @@ void Ball::ballDown(void)
         break;
 
     case EXTEND_DOWN:
+        osDelay(500); // 不放太快
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
         // 检测到球自由下落一次就切换状态
@@ -293,6 +277,7 @@ void Ball::ballDown(void)
         xiaomi.position = O_ANGLE; // 保持伸出
         if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
         {
+
             osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
             currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
         }
@@ -314,17 +299,20 @@ void Ball::Idle_control()
     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)
+        {
+            // 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
     {
         xiaomi.position = I_ANGLE; // 默认回到收回位置
@@ -346,7 +334,6 @@ void Ball::Idle_control()
         currentState1 = BALL_IDLE;
     }
     // xiaomi.position = I_ANGLE;
-   
 }
 
 int ball_state = 0;
@@ -365,7 +352,6 @@ void Ball::ballHadling(void)
             {
                 currentState1 = BALL_FORWARD;
             }
-           
         }
         break;
 
@@ -377,7 +363,7 @@ void Ball::ballHadling(void)
         break;
 
     case BALL_DROP:
-        osDelay(100); // 延时 100ms
+        osDelay(100); //不要动这里                                        
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
         // 一直检测有球（ball_state == 0），等球离开
         if (ball_state == 1 && last_ball_state == 0) // 球离开
@@ -399,7 +385,7 @@ void Ball::ballHadling(void)
 
     case BALL_CLOSE:
 
-            osDelay(25); 
+         osDelay(100); 
         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;
@@ -415,10 +401,6 @@ void Ball::ballHadling(void)
         currentState1 = BALL_IDLE; // 默认回到空闲状态
         break;
     }
-
-    
 }
 
- 
 #endif
-

User/module/shoot.cpp

@@ -1,5 +1,6 @@
 #include "TopDefine.h"
 #include "shoot.hpp"
+#include "userTask.h"
 #include "main.h"
 #include "remote_control.h"
 #include "FreeRTOS.h"
@@ -35,7 +36,6 @@ const fp32 Shoot:: M2006_angle_PID[3] = { 15, 0.1, 0};
 #define Tigger_ZERO 100
 #define Tigger_ERROR 3
 
-
 float knob_increment;
 
 Shoot::Shoot()
@@ -48,7 +48,6 @@ Shoot::Shoot()
     t_speedSet = 0;
     result = 0;
 
-
     go1.id = 1,
     go1.mode = 1,
     go1.K_P = 1.0f,
@@ -67,7 +66,6 @@ Shoot::Shoot()
     currentState = SHOOT_IDLE;
 
     LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
-
 }
 
 void Shoot::trigger_control()
@@ -76,17 +74,14 @@ void Shoot::trigger_control()
     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
 
-
     CAN_cmd_200(result, 0, 0, 0, &hcan1);
 }
 
-
 void Shoot ::distanceGet(const NUC_t &nuc_v)
 {
 
     distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x); // 对视觉距离进行滤波处理
     // distance=nuc_v.vision.x; // 获取自瞄数据
-
 }
 
 int Shoot::GO_SendData(float pos, float limit)
@@ -108,11 +103,16 @@ int Shoot::GO_SendData(float pos,float limit)
     //// float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
 
     /*限制最大输入来限制最大输出*/
-	if (pos - q_current > limit) {
+    if (pos - q_current > limit)
+    {
         go1.Pos = q_current + limit; // 限制位置
-	}else if (pos - q_current < -limit) {
+    }
+    else if (pos - q_current < -limit)
+    {
         go1.Pos = q_current - limit; // 限制位置
-	}else {
+    }
+    else
+    {
         go1.Pos = pos; // 允许位置
     }
 
@@ -124,7 +124,7 @@ 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
+// G键 sw[6]👆 200  中 1000 👇1800
 // B键 sw[3]👆 200 开 中 1000  👇1800 关
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
@@ -185,20 +185,19 @@ const float map_max = -60.0f;
     int current_knob_value = rc_ctrl.sw[7];
 
     // 限制范围
-if (current_knob_value < knob_min) current_knob_value = knob_min;
+    if (current_knob_value < knob_min)
-if (current_knob_value > knob_max) current_knob_value = knob_max;
+        current_knob_value = knob_min;
+    if (current_knob_value > knob_max)
+        current_knob_value = knob_max;
 
     // 线性映射
     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() {
+void Shoot::shoot_control()
+{
 
     // 方便调试
     feedback.fd_gopos = go1_data->Pos;
@@ -207,22 +206,27 @@ void Shoot::shoot_control() {
     {
     case VSION:
         fire_pos = distance; // 视觉拟合的力
-      switch (rc_key) {
+        switch (rc_key)
+        {
         case DOWN1:
 
             control_pos = INIT_POS; // 默认中间挡位位置
             go1.Pos = fire_pos;     // 设置蓄力电机位置
             // t_posSet = Tigger_ZERO; // 扳机松开
 
-        if (currentState == SHOOT_READY) {
+            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 >= Tigger_ZERO-20) { // 假设120度为发射完成角度
+                if (t_posSet >= Tigger_ZERO - 20)
+                {                              // 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 {
+            }
+            else
+            {
                 currentState = SHOOT_IDLE; // 默认回到空闲状态
             }
             break;
@@ -243,22 +247,27 @@ break;
         // 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
 
-    switch (rc_key) {
+        switch (rc_key)
+        {
         case DOWN1:
 
             control_pos = INIT_POS; // 默认中间挡位位置
             go1.Pos = fire_pos;     // 设置蓄力电机位置
             // t_posSet = Tigger_ZERO; // 扳机松开
 
-        if (currentState == SHOOT_READY) {
+            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 >= Tigger_ZERO-20) { // 假设120度为发射完成角度
+                if (t_posSet >= Tigger_ZERO - 20)
+                {                              // 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 {
+            }
+            else
+            {
                 currentState = SHOOT_IDLE; // 默认回到空闲状态
             }
             break;
@@ -281,8 +290,6 @@ break;
         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, limit_speed);
@@ -294,14 +301,16 @@ break;
 void Shoot ::shoot_Current()
 {
 
-     switch (currentState) {
+    switch (currentState)
+    {
     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) {
+        if (feedback.fd_gopos < -209)
+        {
             currentState = SHOOT_TOP; // 切换到准备发射状态
         }
         break;
@@ -321,7 +330,8 @@ void Shoot :: shoot_Current()
         {
             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) {
+            if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
+            {
                 BSP_Buzzer_Start();
                 BSP_Buzzer_Set(1, 5000);
                 // currentState = SHOOT_WAIT; // 等待发射信号
@@ -330,14 +340,14 @@ void Shoot :: shoot_Current()
         }
         break;
 
-
     default:
         currentState = SHOOT_IDLE; // 默认回到空闲状态
         break;
     }
 }
 
-void Shoot::RemoveError() {
+void Shoot::RemoveError()
+{
     currentState = SHOOT_IDLE;
     control_pos = TOP_POS + 1.0f;
     if (feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f)
@@ -350,7 +360,6 @@ void Shoot::RemoveError() {
         // 认为完全松开
         control_pos = INIT_POS;
         BSP_Buzzer_Stop();
-
     }
     limit_speed = 3.0f; // 慢慢送上去
     go1.Pos = control_pos;
@@ -360,45 +369,55 @@ void Shoot::RemoveError() {
 
 #if ONE_CONTROL
 
+int asd = 0;
 
-void Shoot::shoot_control() {
+void Shoot::shoot_control()
+{
 
     // 方便调试 反馈信息
     feedback.fd_gopos = go1_data->Pos;
     feedback.fd_tpos = trigger_Motor->total_angle;
 
-
     shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位
 
-if(ready_key==OFFENSIVE){
+    if (ready_key == OFFENSIVE)
+    {
         switch (mode_key)
         {
         case VSION:
             fire_pos = distance; // 视觉拟合的力
-      switch (rc_key) {
+            switch (rc_key)
-       case MIDDLE1:
-            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
+            case MIDDLE1:
+                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();
+                }
+                else if (shoot_thread & EXTEND_OK)
+                {
+                    go1.Pos = fire_pos;
+                    limit_speed = TO_BOTTOM;
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         BSP_Buzzer_Start();
                         BSP_Buzzer_Set(1, 5000);
                     }
                 }
+
                 break;
 
             case DOWN1:
                 if (shoot_thread & EXTEND_OK)
+                {
+                    t_posSet = Tigger_ZERO;
+                    if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
                         BSP_Buzzer_Stop();
-        t_posSet = Tigger_ZERO; // 扳机扣动 射出
+                        currentState = SHOOT_IDLE;
-        currentState = SHOOT_IDLE; // 默认回到空闲状态
                         osThreadFlagsClear(EXTEND_OK);
                     }
-
+                }
                 break;
 
             case UP1:
@@ -408,44 +427,45 @@ switch (mode_key)
             default:
                 break;
             }
+
             break;
 
         // 无自瞄拟合测试档
         case TEST:
-    switch (rc_key) {
+            switch (rc_key)
-       case MIDDLE1:
-
-        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
+            case MIDDLE1:
-            go1.Pos = fire_pos; // 设置蓄力电机位置
+                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
+                }
+                else if (shoot_thread & EXTEND_OK)
+                {
+                    // 只收到EXTEND_OK时，允许调节蓄力位置
+                    fire_pos = INIT_POS + knob_increment;
+                    go1.Pos = fire_pos;
+                    limit_speed = TO_BOTTOM;
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         BSP_Buzzer_Start();
                         BSP_Buzzer_Set(1, 5000);
                     }
                 }
-        if(shoot_thread & READY_TELL) // 如果收到等待配合的通知
+                // 没收到READY_TELL不做任何蓄力
-        {
-           ball_receive(); // 执行接收球的操作
-        }
-        else
-        {
-          go1.Pos = TOP_POS-3.0f; //-208
-          limit_speed=TO_TOP;//快速上去
-          t_posSet = Tigger_ZERO; // 扳机松开
-        }
                 break;
 
             case DOWN1:
                 if (shoot_thread & EXTEND_OK)
+                {
+                    t_posSet = Tigger_ZERO;
+                    if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
                         BSP_Buzzer_Stop();
-        t_posSet = Tigger_ZERO; // 扳机扣动 射出
+                        currentState = SHOOT_IDLE;
-        currentState = SHOOT_IDLE; // 默认回到空闲状态
                         osThreadFlagsClear(EXTEND_OK);
                     }
-
+                }
                 break;
 
             case UP1:
@@ -461,14 +481,17 @@ break;
         default:
             break;
         }
-
     }
-else if(ready_key==DEFENSE)//攻守档总控
+    else if (ready_key == DEFENSE)
     {
-          go1.Pos = TOP_POS-3.0f; //-208
+        control_pos = TOP_POS - 2.0f; //-209
+        go1.Pos = control_pos;
         limit_speed = TO_TOP;   // 快速上去
         t_posSet = Tigger_ZERO; // 扳机松开
-
+    }
+    else
+    {
+        t_posSet = Tigger_DO; // 防止debug时重复
     }
 
     abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
@@ -486,6 +509,8 @@ void Shoot ::ball_receive()
     {
     case SHOOT_IDLE:
         // 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;
@@ -493,6 +518,7 @@ void Shoot ::ball_receive()
             {
                 currentState = GO_TOP; // 切换到准备发射状态
             }
+        }
         break;
 
     case GO_TOP:
@@ -519,10 +545,11 @@ void Shoot ::ball_receive()
     go1.Pos = control_pos;
 }
 
-void Shoot::RemoveError() {
+void Shoot::RemoveError()
+{
     currentState = SHOOT_IDLE;
     control_pos = TOP_POS;
-    if (feedback.fd_gopos >= control_pos - 0.5f&& feedback.fd_gopos<= control_pos + 0.5f)
+    if (feedback.fd_gopos < -209)
     {
         t_posSet = Tigger_ZERO;
         is_hooked = false;
@@ -532,11 +559,9 @@ void Shoot::RemoveError() {
         // 认为完全松开
         control_pos = INIT_POS;
         BSP_Buzzer_Stop();
-
     }
     limit_speed = 3.0f; // 慢慢送上去
     go1.Pos = control_pos;
 }
 
-
 #endif

User/module/shoot.hpp

@@ -18,7 +18,8 @@ typedef enum {
     SHOOT_RETURN,       // 自动返回状态
     //运射配合
     GO_TOP,
-    BAKC
+    BAKC,
+    WAIT_CHANGE
 } ShootState_t;
 
 // // 定义状态枚举

User/task/shootTask.cpp

@@ -17,7 +17,7 @@ void FunctionShoot(void *argument)
 	(void)argument; /* 未使用argument，消除警告 */
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT;
-
+	osDelay(3000);//等待M2006电机启动
 	uint32_t tick = osKernelGetTickCount();
 
 while(1)