攻守方模式

Core/Inc/main.h

@@ -57,13 +57,11 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define ext_up_Pin GPIO_PIN_7
+#define BALL_Pin GPIO_PIN_7
-#define ext_up_GPIO_Port GPIOI
+#define BALL_GPIO_Port GPIOI
-#define ext_up_EXTI_IRQn EXTI9_5_IRQn
+#define BALL_EXTI_IRQn EXTI9_5_IRQn
 #define up_ball_Pin GPIO_PIN_6
 #define up_ball_GPIO_Port GPIOI
-#define in_ball_Pin GPIO_PIN_6
-#define in_ball_GPIO_Port GPIOC
 #define IMU_HEAT_PWM_Pin GPIO_PIN_6
 #define IMU_HEAT_PWM_GPIO_Port GPIOF
 #define LED_R_Pin GPIO_PIN_12
@@ -77,24 +75,10 @@ void Error_Handler(void);
 #define KEY_Pin GPIO_PIN_0
 #define KEY_GPIO_Port GPIOA
 #define KEY_EXTI_IRQn EXTI0_IRQn
-#define ACCL_CS_Pin GPIO_PIN_4
+#define CLOSE_Pin GPIO_PIN_13
-#define ACCL_CS_GPIO_Port GPIOA
-#define ACCL_INT_Pin GPIO_PIN_4
-#define ACCL_INT_GPIO_Port GPIOC
-#define ACCL_INT_EXTI_IRQn EXTI4_IRQn
-#define PAW_Pin GPIO_PIN_13
-#define PAW_GPIO_Port GPIOE
-#define GYRO_INT_Pin GPIO_PIN_5
-#define GYRO_INT_GPIO_Port GPIOC
-#define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn
-#define STOP_Pin GPIO_PIN_9
-#define STOP_GPIO_Port GPIOE
-#define CLOSE_Pin GPIO_PIN_11
 #define CLOSE_GPIO_Port GPIOE
-#define DOWN_Pin GPIO_PIN_14
+#define DOWN_Pin GPIO_PIN_11
 #define DOWN_GPIO_Port GPIOE
-#define GYRO_CS_Pin GPIO_PIN_0
-#define GYRO_CS_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/stm32f4xx_it.h

@@ -54,7 +54,6 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void SysTick_Handler(void);
 void EXTI0_IRQHandler(void);
-void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);

Core/Src/gpio.c

@@ -59,19 +59,13 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOH, LED_R_Pin|LED_G_Pin|LED_B_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOE, CLOSE_Pin|DOWN_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin Output Level */
+  /*Configure GPIO pin : BALL_Pin */
-  HAL_GPIO_WritePin(GPIOE, PAW_Pin|CLOSE_Pin|DOWN_Pin, GPIO_PIN_RESET);
+  GPIO_InitStruct.Pin = BALL_Pin;
-
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
-  /*Configure GPIO pin Output Level */
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_Init(BALL_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : ext_up_Pin */
-  GPIO_InitStruct.Pin = ext_up_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(ext_up_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : up_ball_Pin */
   GPIO_InitStruct.Pin = up_ball_Pin;
@@ -79,12 +73,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
   HAL_GPIO_Init(up_ball_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : in_ball_Pin */
-  GPIO_InitStruct.Pin = in_ball_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(in_ball_GPIO_Port, &GPIO_InitStruct);
-
   /*Configure GPIO pins : LED_R_Pin LED_G_Pin LED_B_Pin */
   GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -98,47 +86,17 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(KEY_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : ACCL_CS_Pin */
+  /*Configure GPIO pins : CLOSE_Pin DOWN_Pin */
-  GPIO_InitStruct.Pin = ACCL_CS_Pin;
+  GPIO_InitStruct.Pin = CLOSE_Pin|DOWN_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
-  HAL_GPIO_Init(ACCL_CS_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */
-  GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : PAW_Pin CLOSE_Pin */
-  GPIO_InitStruct.Pin = PAW_Pin|CLOSE_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : DOWN_Pin */
-  GPIO_InitStruct.Pin = DOWN_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(DOWN_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : GYRO_CS_Pin */
-  GPIO_InitStruct.Pin = GYRO_CS_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
-  HAL_GPIO_Init(GYRO_CS_GPIO_Port, &GPIO_InitStruct);
-
   /* EXTI interrupt init*/
   HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI0_IRQn);
 
-  HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI4_IRQn);
-
   HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 

Core/Src/stm32f4xx_it.c

@@ -208,20 +208,6 @@ void EXTI0_IRQHandler(void)
   /* USER CODE END EXTI0_IRQn 1 */
 }
 
-/**
-  * @brief This function handles EXTI line4 interrupt.
-  */
-void EXTI4_IRQHandler(void)
-{
-  /* USER CODE BEGIN EXTI4_IRQn 0 */
-
-  /* USER CODE END EXTI4_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
-  /* USER CODE BEGIN EXTI4_IRQn 1 */
-
-  /* USER CODE END EXTI4_IRQn 1 */
-}
-
 /**
   * @brief This function handles DMA1 stream1 global interrupt.
   */
@@ -258,8 +244,7 @@ void EXTI9_5_IRQHandler(void)
   /* USER CODE BEGIN EXTI9_5_IRQn 0 */
 
   /* USER CODE END EXTI9_5_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+  HAL_GPIO_EXTI_IRQHandler(BALL_Pin);
-  HAL_GPIO_EXTI_IRQHandler(ext_up_Pin);
   /* USER CODE BEGIN EXTI9_5_IRQn 1 */
 
   /* USER CODE END EXTI9_5_IRQn 1 */

MDK-ARM/.vscode/c_cpp_properties.json

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

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

@@ -66,3 +66,11 @@
 
 [info] Log at : 2025/6/25|09:51:44|GMT+0800
 
+[info] Log at : 2025/6/25|12:54:37|GMT+0800
+
+[info] Log at : 2025/6/25|15:34:37|GMT+0800
+
+[info] Log at : 2025/6/25|16:10:47|GMT+0800
+
+[info] Log at : 2025/6/25|19:23:57|GMT+0800
+

MDK-ARM/.vscode/settings.json

@@ -4,6 +4,7 @@
         "user_math.h": "c",
         "buzzer.h": "c",
         "calc_lib.h": "c",
-        "usertask.h": "c"
+        "usertask.h": "c",
+        "detect.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,8 +1,10 @@
 *** 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=31344 RO-data=1832 RW-data=268 ZI-data=32252  
+Program Size: Code=31644 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:  00:00:05
+Build Time Elapsed:  00:00:06

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

@@ -1 +1 @@
-2025/6/25 9:57:28
+2025/6/26 3:22:31

MDK-ARM/R1.uvoptx

@@ -158,7 +158,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball,0x0A</ItemText>
+          <ItemText>rc_ctrl</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -168,29 +168,32 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>triggerCount,0x0A</ItemText>
+          <ItemText>ball,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>abc,0x0A</ItemText>
+          <ItemText>ball_exit,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
           <ItemText>nuc_v</ItemText>
         </Ww>
       </WatchWindow1>
+      <MemoryWindow4>
+        <Mm>
+          <WinNumber>4</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>nucbuf</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -1041,7 +1044,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1073,7 +1076,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/README.md

@@ -29,9 +29,15 @@ r1上层
 + 👆 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
++ 起步遥控档我直接蓄力准备接球  + 可多次的运球
-  + 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
+  + 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

R1.ioc

@@ -144,36 +144,29 @@ Mcu.Pin14=PD1
 Mcu.Pin15=PA9
 Mcu.Pin16=PH0-OSC_IN
 Mcu.Pin17=PH1-OSC_OUT
-Mcu.Pin18=PC6
+Mcu.Pin18=PF6
-Mcu.Pin19=PF6
+Mcu.Pin19=PH12
 Mcu.Pin2=PB4
-Mcu.Pin20=PH12
+Mcu.Pin20=PH11
-Mcu.Pin21=PH11
+Mcu.Pin21=PH10
-Mcu.Pin22=PH10
+Mcu.Pin22=PD14
-Mcu.Pin23=PD14
+Mcu.Pin23=PA0-WKUP
-Mcu.Pin24=PA0-WKUP
+Mcu.Pin24=PE13
-Mcu.Pin25=PA4
+Mcu.Pin25=PE11
-Mcu.Pin26=PC4
+Mcu.Pin26=PA7
-Mcu.Pin27=PE13
+Mcu.Pin27=VP_CRC_VS_CRC
-Mcu.Pin28=PC5
+Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin29=PE9
+Mcu.Pin29=VP_SYS_VS_Systick
 Mcu.Pin3=PB3
-Mcu.Pin30=PE11
+Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin31=PE14
+Mcu.Pin31=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin32=PA7
-Mcu.Pin33=PB0
-Mcu.Pin34=VP_CRC_VS_CRC
-Mcu.Pin35=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin36=VP_SYS_VS_Systick
-Mcu.Pin37=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin38=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin4=PA14
 Mcu.Pin5=PA13
 Mcu.Pin6=PB7
 Mcu.Pin7=PB6
 Mcu.Pin8=PD0
 Mcu.Pin9=PC11
-Mcu.PinsNb=39
+Mcu.PinsNb=32
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -191,7 +184,6 @@ 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.EXTI4_IRQn=true\:5\:0\:true\:false\:true\:false\: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
@@ -219,13 +211,6 @@ PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA4.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PA4.GPIO_Label=ACCL_CS
-PA4.GPIO_PuPd=GPIO_PULLUP
-PA4.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PA4.Locked=true
-PA4.PinState=GPIO_PIN_SET
-PA4.Signal=GPIO_Output
 PA7.GPIOParameters=GPIO_PuPd
 PA7.GPIO_PuPd=GPIO_PULLUP
 PA7.Mode=Full_Duplex_Master
@@ -233,13 +218,6 @@ PA7.Signal=SPI1_MOSI
 PA9.Locked=true
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
-PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PB0.GPIO_Label=GYRO_CS
-PB0.GPIO_PuPd=GPIO_PULLUP
-PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PB0.Locked=true
-PB0.PinState=GPIO_PIN_SET
-PB0.Signal=GPIO_Output
 PB3.GPIOParameters=GPIO_PuPd
 PB3.GPIO_PuPd=GPIO_PULLUP
 PB3.Mode=Full_Duplex_Master
@@ -258,20 +236,6 @@ PC10.Mode=Asynchronous
 PC10.Signal=USART3_TX
 PC11.Mode=Asynchronous
 PC11.Signal=USART3_RX
-PC4.GPIOParameters=GPIO_PuPd,GPIO_Label
-PC4.GPIO_Label=ACCL_INT
-PC4.GPIO_PuPd=GPIO_PULLUP
-PC4.Locked=true
-PC4.Signal=GPXTI4
-PC5.GPIOParameters=GPIO_PuPd,GPIO_Label
-PC5.GPIO_Label=GYRO_INT
-PC5.GPIO_PuPd=GPIO_PULLUP
-PC5.Locked=true
-PC5.Signal=GPXTI5
-PC6.GPIOParameters=GPIO_Label
-PC6.GPIO_Label=in-ball
-PC6.Locked=true
-PC6.Signal=GPIO_Input
 PD0.Locked=true
 PD0.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
@@ -283,25 +247,13 @@ PD14.GPIO_Label=Buzzer
 PD14.Locked=true
 PD14.Signal=S_TIM4_CH3
 PE11.GPIOParameters=GPIO_Label
-PE11.GPIO_Label=CLOSE
+PE11.GPIO_Label=DOWN
 PE11.Locked=true
 PE11.Signal=GPIO_Output
 PE13.GPIOParameters=GPIO_Label
-PE13.GPIO_Label=PAW
+PE13.GPIO_Label=CLOSE
 PE13.Locked=true
 PE13.Signal=GPIO_Output
-PE14.GPIOParameters=GPIO_PuPd,GPIO_Label
-PE14.GPIO_Label=DOWN
-PE14.GPIO_PuPd=GPIO_PULLDOWN
-PE14.Locked=true
-PE14.Signal=GPIO_Output
-PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
-PE9.GPIO_Label=STOP
-PE9.GPIO_PuPd=GPIO_PULLDOWN
-PE9.Locked=true
-PE9.PinState=GPIO_PIN_SET
-PE9.Signal=SharedStack_PE9
-PE9.Stacked=true
 PF6.GPIOParameters=GPIO_Speed,GPIO_Label
 PF6.GPIO_Label=IMU_HEAT_PWM
 PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
@@ -341,9 +293,10 @@ PI6.GPIO_Label=up-ball
 PI6.GPIO_PuPd=GPIO_PULLDOWN
 PI6.Locked=true
 PI6.Signal=GPIO_Input
-PI7.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
+PI7.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PI7.GPIO_Label=ext-up
+PI7.GPIO_Label=BALL
-PI7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
+PI7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING
+PI7.GPIO_PuPd=GPIO_PULLUP
 PI7.Locked=true
 PI7.Signal=GPXTI7
 PinOutPanel.CurrentBGAView=Top
@@ -416,19 +369,12 @@ RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 SH.GPXTI0.0=GPIO_EXTI0
 SH.GPXTI0.ConfNb=1
-SH.GPXTI4.0=GPIO_EXTI4
-SH.GPXTI4.ConfNb=1
-SH.GPXTI5.0=GPIO_EXTI5
-SH.GPXTI5.ConfNb=1
 SH.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
 SH.S_TIM10_CH1.ConfNb=1
 SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
 SH.S_TIM4_CH3.ConfNb=1
-SH.SharedStack_PE9.0=GPIO_Output+0
-SH.SharedStack_PE9.1=GPIO_Input
-SH.SharedStack_PE9.ConfNb=2
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
 SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH

User/bsp/TopDefine.h

@@ -17,6 +17,10 @@
 
 
 #define ONE_CONTROL 1
+
+
+
+
 //是否使用大疆DT7遥控器
 #ifndef DT7
 #define DT7 0
@@ -33,9 +37,10 @@
 //运球
 #define BALL_DOWN	(1<<1)
 
-//运球结束 
+//可以蓄力标志
-//#define PREPARE (1<<0)
+#define READY_TELL (1<<0)
-
+//运球完成
+#define HANDING_FINISH (1<<2)
 //伸缩结束
 #define EXTEND_OK	(1<<3)
 

User/bsp/gpio_it.c

@@ -34,13 +34,6 @@ int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
 
 int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
   switch (pin) {
-    case ACCL_INT_Pin:
-      HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
-      break;
-
-    case GYRO_INT_Pin:
-      HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
-      break;
 
     // case USER_KEY_Pin:
     //   HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
@@ -60,13 +53,6 @@ int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
 
 int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
   switch (pin) {
-    case ACCL_INT_Pin:
-      HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
-      break;
-
-    case GYRO_INT_Pin:
-      HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
-      break;
 
     // case USER_KEY_Pin:
     //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);

User/device/detect.c

@@ -2,6 +2,7 @@
 #include "gpio_it.h" // 确保包含 GPIO 中断相关头文件
 #include "bsp_delay.h"
 int key=0;
+int ball_exit=0;
 
 // 按键中断回调函数
 void detect_exit(void)
@@ -11,11 +12,11 @@ void detect_exit(void)
     key++; // 按键按下时变量自增
     __HAL_GPIO_EXTI_CLEAR_IT(KEY_Pin); // 清除中断标志位
 }
-void detect_led(void)
+void detect_ball(void)
 {
-    delay_ms(10); // 延时10ms
+
-    key++; // 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(ext_up_Pin); // 清除中断标志位
+    __HAL_GPIO_EXTI_CLEAR_IT(BALL_Pin); // 清除中断标志位
 }
 
 
@@ -24,17 +25,13 @@ void detect_init(void)
 {
 
     BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
-   // BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led);
+    BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball);
-    // 注册按键中断回调函数
-    if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) {
-        // 错误处理
-    }
 
     // 启用按键中断
     if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
         // 错误处理
     }  
-    if (BSP_GPIO_EnableIRQ(ext_up_Pin) != BSP_OK) {
+    if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) {
         // 错误处理
     }  
     

User/module/ball.cpp

@@ -7,10 +7,12 @@
 #include "shoot.hpp"
 
 extern RC_ctrl_t rc_ctrl;
+extern int ball_exit;
 
 //伸缩
 #define I_ANGLE 147
 #define O_ANGLE 187
+#define WAIT_POS 165
 
 //PE11 气缸
 
@@ -26,7 +28,7 @@ Ball ::Ball()
     xiaomi.speed    = 25;   // 
     xiaomi.K_P      = 80;  // 位置增益
     xiaomi.K_D      =20;    // 位置阻尼
-    xiaomi.K_C      = 50 ;  // 力矩
+    xiaomi.K_C      = 12 ;  // 力矩
     xiaomi.Pmax     =1; //好像没啥用
 
     // //小米电机初始化
@@ -71,6 +73,14 @@ void Ball::rc_mode()
       extern_key=OUT;  
     }
 
+    if(rc_ctrl.sw[5]==1800)
+    {
+       ready_key=SIDE; 
+    }
+    if(rc_ctrl.sw[5]==200)
+    {
+         ready_key=0; //默认不准备
+    }
 }
 
 void Ball::Send_control()
@@ -86,7 +96,7 @@ void Ball::Send_control()
 void Ball::ballDown(void)
 {
 
-    HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
+    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
 
 }
@@ -111,7 +121,7 @@ void Ball::ball_control()
 
     switch (rc_key){
         case MIDDLE2:
-       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)
         {
@@ -128,6 +138,7 @@ void Ball::ball_control()
 
         case DOWN2: 
         ballHadling();
+        //test_Handling();
 
         break;
 
@@ -137,28 +148,28 @@ void Ball::ball_control()
 
 }
 
+
  int ball_state = 0;
- int triggerCount = 0; // 光电传感器触发计数
+ int last_ball_state = 0; // 上一次的光电状态
- int last_ball_state = 1; // 上一次的光电状态
+
-//(有球 0,无球 1)
 void Ball::ballHadling(void)
 {
   
     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
         {
           
-            triggerCount = 0; // 重置触发计数
+         
             currentState1 = BALL_FORWARD; 
         }
         break;
 
     case BALL_FORWARD:
-        HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
+        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
@@ -167,44 +178,36 @@ void Ball::ballHadling(void)
         case BALL_DROP:
         osDelay(100); // 延时 100ms
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
-        if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
+        // 一直检测有球（ball_state == 0），等球离开
+        if (ball_state == 1 && last_ball_state == 0) // 球离开
         {
-            //osDelay(10); // 延时去抖动
+            currentState1 = BALL_FLAG;
-            triggerCount++; // 增加触发计数
-            if (triggerCount == 1) // 第一次触发
-            {
-                currentState1 = BALL_FLAG; // 切换到等待第二次触发状态
-            }
         }
-        last_ball_state = ball_state; // 更新上一次的状态
+        last_ball_state = ball_state;
         break;
 
         case BALL_FLAG:
         osDelay(10); // 延时 50ms
-        if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
+        // 等待球弹回再次检测到球
+        if (ball_state == 0 && last_ball_state == 1) // 球弹回
         {
-            triggerCount++; // 增加触发计数
+            currentState1 = BALL_CLOSE;
-            currentState1 = BALL_CLOSE; // 切换到闭合气缸状态
         }
-        last_ball_state = ball_state; // 更新上一次的状态
+        last_ball_state = ball_state;
         break;
 
     case BALL_CLOSE:
-        if (triggerCount == 2) // 确保是第二次触发
+
-        {
+            osDelay(25); 
-            osDelay(50); 
+            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
-            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
-        }
         break;
 
     case BALL_FINISH:
         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(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
 
-        triggerCount = 0; // 重置触发计数
-
         //currentState1 = BALL_IDLE; // 回到空闲状态
 
         break;
@@ -215,7 +218,10 @@ void Ball::ballHadling(void)
     }
 
     
-}   
+ }   
+
+
+
 #endif
 
 #if ONE_CONTROL
@@ -225,7 +231,10 @@ 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)
 
-    switch (rc_key){
+    //进攻
+    if(ready_key==SIDE)
+    {
+            switch (rc_key){
         case MIDDLE2:
          Idle_control();
         break;
@@ -239,6 +248,17 @@ void Ball::ball_control()
         break;
 
     }
+    }
+    //防守
+    else
+    {
+      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 
+
+    }
+    
+
 
     Send_control(); 
 
@@ -260,10 +280,10 @@ void Ball::ballDown(void)
             break;
 
         case EXTEND_DOWN:
-            HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET);
+            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
-            if(ball_state == 0)
+            if(ball_state == 1)
             {
                 currentState1 = EXTEND_OUT;
             }
@@ -291,12 +311,25 @@ void Ball::ballDown(void)
 
 void Ball::Idle_control()
 {
-    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); // 确保爪气缸关闭 
     HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 
 
-    osThreadFlagsClear(PREPARE);
+    
     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)
+        {
+          osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
+        }
+    }
+    else
+    {
+        xiaomi.position = I_ANGLE; // 默认回到收回位置
+    }
+    
     // 拨杆回到中间挡位时，回位并重置状态机
     if(currentState1==EXTEND_FINISH)//转移后
     {
@@ -317,21 +350,17 @@ void Ball::Idle_control()
 }
 
  int ball_state = 0;
- int triggerCount = 0; // 光电传感器触发计数
+ int last_ball_state = 0; // 上一次的光电状态
- int last_ball_state = 1; // 上一次的光电状态
+
-//(有球 0,无球 1)
 void Ball::ballHadling(void)
 {
   
     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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 
         if (rc_key == DOWN2)
         {   
             xiaomi.position = O_ANGLE;//外伸       
-            triggerCount = 0; // 重置触发计数
             if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
             {
                  currentState1 = BALL_FORWARD; 
@@ -341,7 +370,7 @@ void Ball::ballHadling(void)
         break;
 
     case BALL_FORWARD:
-        HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
+        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
@@ -350,43 +379,36 @@ void Ball::ballHadling(void)
         case BALL_DROP:
         osDelay(100); // 延时 100ms
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
-        if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
+        // 一直检测有球（ball_state == 0），等球离开
+        if (ball_state == 1 && last_ball_state == 0) // 球离开
         {
-            triggerCount++; // 增加触发计数
+            currentState1 = BALL_FLAG;
-            if (triggerCount == 1) // 第一次触发
-            {
-                currentState1 = BALL_FLAG; // 切换到等待第二次触发状态
-            }
         }
-        last_ball_state = ball_state; // 更新上一次的状态
+        last_ball_state = ball_state;
         break;
 
         case BALL_FLAG:
-       // osDelay(10); // 延时 50ms
+        osDelay(10); // 延时 50ms
-        if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
+        // 等待球弹回再次检测到球
+        if (ball_state == 0 && last_ball_state == 1) // 球弹回
         {
-            triggerCount++; // 增加触发计数
+            currentState1 = BALL_CLOSE;
-            currentState1 = BALL_CLOSE; // 切换到闭合气缸状态
         }
-        last_ball_state = ball_state; // 更新上一次的状态
+        last_ball_state = ball_state;
         break;
 
     case BALL_CLOSE:
-        if (triggerCount == 2) // 确保是第二次触发
+
-        {
+            osDelay(25); 
-            osDelay(50); 
+            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
-            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
-        }
         break;
 
     case BALL_FINISH:
         osDelay(50); // 延时 50ms
-        HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
+        //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
-       
-        triggerCount = 0; // 重置触发计数
-
         break;
 
     default:
@@ -395,7 +417,8 @@ void Ball::ballHadling(void)
     }
 
     
-}   
+ }   
 
+ 
 #endif
 

User/module/ball.hpp

@@ -31,14 +31,6 @@ typedef enum {
 
 } BallState_t;
 
-typedef enum
-{
-    MOTOR_1 = 0,
-    MOTOR_2 = 1,
-    MOTOR_3 = 2,
-    MOTOR_DOWN = 3,
-    MOTOR_NUM
-}motorhangd_e;
 
 typedef enum
 {
@@ -46,7 +38,8 @@ typedef enum
     MIDDLE2,
     DOWN2,
     IN,
-    OUT
+    OUT,
+    SIDE
 }ball_rc_mode;
 
 // 定义光电传感器检测宏
@@ -62,7 +55,7 @@ public:
     void Move_Extend(void);
     void Idle_control(void);
     void rc_mode(void);
-    void Extend_mcontrol(int angle1,int angle2);
+    void test_Handling(void);
     void ball_control(void);
   
     BallState_t currentState1; // 运球任务状态机
@@ -78,6 +71,7 @@ public:
 //==========================公共变量==========================//
     int16_t rc_key; //遥控器按键
     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

User/module/shoot.cpp

@@ -126,6 +126,7 @@ int Shoot::GO_SendData(float pos,float limit)
 // E键 sw[1]  👆 200 shoot  中 1000 stop  sw[2]200  sw[2]👇1800 
 // G键 sw[6]👆 1800  中 1000 👇200
 // B键 sw[3]👆 200 开 中 1000  👇1800 关
+//     sw[5] 👆 200 👇1800
 //左旋 sw[7] 200 --1800
 void Shoot::rc_mode()
 {
@@ -149,24 +150,18 @@ void Shoot::rc_mode()
     {
         mode_key=VSION;  
     }
-    if(rc_ctrl.sw[3]==1800)
+    // if(rc_ctrl.sw[5]==200)
-    {
-       ready_key=PREPARE; 
-    }
-    else
-    {
-         ready_key=0; //默认不准备
-    }
-
-
-    // if(rc_ctrl.sw[7]==200)
     // {
-    //   trigger_key=WAIT;  
+    //     mode_key=OUT;  
-    // }
-    // if(rc_ctrl.sw[7]==1800)
-    // {
-    //   trigger_key=SHOOT;  
     // }
+    if(rc_ctrl.sw[5]==1800)
+    {
+       ready_key=OFFENSIVE; 
+    }
+    else if(rc_ctrl.sw[5]==200)
+    {
+         ready_key=DEFENSE; 
+    }
 
     // //旋钮增量
     // static int last_knob_value = 0; // 记录旋钮的上一次值
@@ -375,6 +370,7 @@ feedback.fd_tpos = trigger_Motor->total_angle;
 
 shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位
 
+if(ready_key==OFFENSIVE){
 switch (mode_key)
     {
     case VSION:
@@ -429,9 +425,15 @@ break;
              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
         {
-          ball_receive(); // 执行接收球的操作
+          go1.Pos = TOP_POS-3.0f; //-208
+          limit_speed=TO_TOP;//快速上去
+          t_posSet = Tigger_ZERO; // 扳机松开
         }
         break;
 
@@ -460,6 +462,14 @@ break;
         break;
     }     
 
+}
+else if(ready_key==DEFENSE)//攻守档总控
+{
+          go1.Pos = TOP_POS-3.0f; //-208
+          limit_speed=TO_TOP;//快速上去
+          t_posSet = Tigger_ZERO; // 扳机松开
+
+}
 
     abs_limit_min_max_fp(&go1.Pos ,-210.0f,2.0f);
     // 发送数据到蓄力电机
@@ -475,18 +485,16 @@ void Shoot ::ball_receive()
     switch (currentState) 
     {
         case SHOOT_IDLE:
-       //底盘手动档直接蓄力 
-         if(ready_key == PREPARE){
             // 初始状态：钩子移动到顶部，钩住拉簧
             control_pos = TOP_POS;   
             limit_speed=TO_TOP;//快速上去      
             t_posSet = Tigger_ZERO;
-            if(feedback.fd_gopos >= TOP_POS - 0.5f && feedback.fd_gopos <= TOP_POS + 0.5f)
+            if(feedback.fd_gopos <-209)
             {
                 currentState = GO_TOP; // 切换到准备发射状态
             }
-            }
             break;
+
        case GO_TOP:
             t_posSet = Tigger_DO;
             if (trigger_Motor->total_angle<Tigger_DO+1.0f && trigger_Motor->total_angle>Tigger_DO-1.0f) 
@@ -501,7 +509,7 @@ void Shoot ::ball_receive()
             if(feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
             {
 
-                //osThreadFlagsClear(PREPARE); // 清除任务通知标志位
+                osThreadFlagsClear(READY_TELL); // 清除任务通知标志位
             }
             
             break; 
@@ -519,14 +527,14 @@ void Shoot::RemoveError() {
         t_posSet = Tigger_ZERO; 
         is_hooked = false; 
     }
-    if(trigger_Motor->total_angle>=Tigger_ZERO-10)
+    if(trigger_Motor->total_angle>=Tigger_ZERO-5)
     {
         //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;
 }
 

User/module/shoot.hpp

@@ -40,7 +40,8 @@ typedef enum
     WAIT,
     TEST,
     VSION,
-    PREPARE
+    OFFENSIVE,
+    DEFENSE
 }rc_mode;
 
 // 光电传感器读取宏

User/task/ballTask.cpp

@@ -35,9 +35,12 @@ void FunctionBall(void *argument)
 
     abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
 
-    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.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);