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base: RoboDuoduo:e420cea621e11db565bb3ae9027d83b44b4a12ff
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RoboDuoduo:main
RoboDuoduo:上层测试
RoboDuoduo:运球赛
RoboDuoduo:快速版
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compare: RoboDuoduo:4fb6b424a1e8e1d18ebb4faac9a16b85dcdd85ec
Branches Tags
RoboDuoduo:main
RoboDuoduo:上层测试
RoboDuoduo:运球赛
RoboDuoduo:快速版

2 Commits
e420cea621 ... 4fb6b424a1

Author SHA1 Message Date
ws
4fb6b424a1 初始化在最顶上 2025-06-26 22:06:41 +08:00
ws
048319df42 全是bug 2025-06-26 19:33:42 +08:00
9 changed files with 434 additions and 388 deletions
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5
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,10 +1,9 @@
*** 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...
compiling shoot.cpp...
linking...
Program Size: Code=31644 RO-data=1832 RW-data=268 ZI-data=32252
Program Size: Code=31632 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

2
MDK-ARM/.vscode/uv4.log.lock vendored
View File

@ -1 +1 @@
2025/6/26 3:22:31
2025/6/26 22:06:06

7
MDK-ARM/R1.uvoptx
View File

@ -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 +185,11 @@
<WinNumber>1</WinNumber>
<ItemText>nuc_v</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>asd,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
<Mm>

14
MDK-ARM/README.md
View File

@ -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

5
User/bsp/TopDefine.h
View File

@ -18,9 +18,6 @@
#define ONE_CONTROL 1
//是否使用大疆DT7遥控器
#ifndef DT7
#define DT7 0
@ -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)

9
User/module/ball.cpp
View File

@ -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
@ -258,8 +258,7 @@ void Ball::ball_control()
}
// 发送小米电机控制数据
Send_control();
}
@ -321,10 +320,14 @@ void Ball::Idle_control()
{
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

169
User/module/shoot.cpp
View File

@ -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_max) current_knob_value = knob_max;
if (current_knob_value < knob_min)
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) {
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
switch (rc_key)
{
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; // 默认回到空闲状态
currentState = SHOOT_IDLE;
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) {
case MIDDLE1:
if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
switch (rc_key)
{
fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
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(); // 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
{
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
}
// 没收到READY_TELL不做任何蓄力
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; // 默认回到空闲状态
currentState = SHOOT_IDLE;
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

3
User/module/shoot.hpp
View File

@ -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

2
User/task/shootTask.cpp
View File

@ -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)