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base: RoboDuoduo:ffd13d2e639ebb0fe206d3bd5afea81352f709b7
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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:74d7f2ef20c33d8551d614b1d0cea16e23df39d2
Branches Tags
RoboDuoduo:main
RoboDuoduo:上层测试
RoboDuoduo:运球赛
RoboDuoduo:快速版

No commits in common. "ffd13d2e639ebb0fe206d3bd5afea81352f709b7" and "74d7f2ef20c33d8551d614b1d0cea16e23df39d2" have entirely different histories.
ffd13d2e63 ... 74d7f2ef20

14 changed files with 184 additions and 335 deletions
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8
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -36,11 +36,3 @@
[info] Log at : 2025/6/17|19:06:14|GMT+0800 [info] Log at : 2025/6/17|19:06:14|GMT+0800
[info] Log at : 2025/6/19|13:29:28|GMT+0800
[info] Log at : 2025/6/19|17:34:46|GMT+0800
[info] Log at : 2025/6/19|20:07:38|GMT+0800
[info] Log at : 2025/6/20|09:52:08|GMT+0800

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,4 +1,10 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1' Build target 'R1'
compiling shoot.cpp...
compiling ballTask.cpp...
compiling ball.cpp...
linking...
Program Size: Code=30080 RO-data=1828 RW-data=268 ZI-data=32660
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s). "R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:07 Build Time Elapsed: 00:00:07

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/20 9:52:48 2025/6/16 19:22:49

54
MDK-ARM/R1.uvoptx
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@ -193,22 +193,12 @@
<Ww> <Ww>
<count>7</count> <count>7</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText> <ItemText>aaa,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>8</count> <count>8</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>ball_state,0x0A</ItemText> <ItemText>wzcsb,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>triggerCount,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>last_ball_state,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
@ -1061,7 +1051,7 @@
<Group> <Group>
<GroupName>User/module</GroupName> <GroupName>User/module</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1084,6 +1074,18 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\User\module\gimbal.cpp</PathWithFileName>
<FilenameWithoutPath>gimbal.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>64</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\shoot.cpp</PathWithFileName> <PathWithFileName>..\User\module\shoot.cpp</PathWithFileName>
<FilenameWithoutPath>shoot.cpp</FilenameWithoutPath> <FilenameWithoutPath>shoot.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1093,13 +1095,13 @@
<Group> <Group>
<GroupName>User/task</GroupName> <GroupName>User/task</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>64</FileNumber> <FileNumber>65</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1111,7 +1113,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>65</FileNumber> <FileNumber>66</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1123,7 +1125,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>66</FileNumber> <FileNumber>67</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1135,7 +1137,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>67</FileNumber> <FileNumber>68</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1147,7 +1149,19 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>68</FileNumber> <FileNumber>69</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\gimbalTask.cpp</PathWithFileName>
<FilenameWithoutPath>gimbalTask.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>70</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1159,7 +1173,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>69</FileNumber> <FileNumber>71</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

10
MDK-ARM/R1.uvprojx
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@ -733,6 +733,11 @@
<FileType>8</FileType> <FileType>8</FileType>
<FilePath>..\User\module\ball.cpp</FilePath> <FilePath>..\User\module\ball.cpp</FilePath>
</File> </File>
<File>
<FileName>gimbal.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\User\module\gimbal.cpp</FilePath>
</File>
<File> <File>
<FileName>shoot.cpp</FileName> <FileName>shoot.cpp</FileName>
<FileType>8</FileType> <FileType>8</FileType>
@ -763,6 +768,11 @@
<FileType>8</FileType> <FileType>8</FileType>
<FilePath>..\User\task\encodeCan.cpp</FilePath> <FilePath>..\User\task\encodeCan.cpp</FilePath>
</File> </File>
<File>
<FileName>gimbalTask.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\User\task\gimbalTask.cpp</FilePath>
</File>
<File> <File>
<FileName>nucTask.cpp</FileName> <FileName>nucTask.cpp</FileName>
<FileType>8</FileType> <FileType>8</FileType>

25
MDK-ARM/README.md
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@ -1,25 +0,0 @@
# R1_up
r1上层
## 外设
+ CAN1
+ 扳机2006 id:0x201
+ CAN2
+ 小米电机 id:1
+ UART
+ uart1 波特率4000000 id：2
+ uart6 nuc
+ uart3 遥控器接收
+ GPIO
+ PI6运球光电
+ PE13 爪气缸
+ PE14 砸气缸
## 遥控器
## 待解决
+ 用了将运球和伸缩绑定到一起
+ 串口收数加个滤波

5
User/bsp/TopDefine.h
View File

@ -34,16 +34,13 @@
//================任务通知================// //================任务通知================//
//运球 //运球
#define BALL_DOWN (1<<1) #define BALL_OK (1<<1)
//接到放球命令 //接到放球命令
#define PUT_CMD (1<<2) #define PUT_CMD (1<<2)
//运球结束 //运球结束
#define PUT_OK (1<<2) #define PUT_OK (1<<2)
#define EXTEND_OK (1<<5)
//take任务要等待上面两个标志位 //take任务要等待上面两个标志位
#define TAKE_WAIT (0x0C) #define TAKE_WAIT (0x0C)
//要发送ok了 //要发送ok了

4
User/device/djiMotor.c
View File

@ -532,7 +532,3 @@ void CAN_XiaoMi(int id,JZ_xiaomi_t *JZ_xiaomi,CAN_HandleTypeDef*hcan)
HAL_CAN_AddTxMessage(hcan, &tx_message, can_send_data, &send_mail_box); HAL_CAN_AddTxMessage(hcan, &tx_message, can_send_data, &send_mail_box);
} }
MotorFeedback_t * get_CyberGear_point()
{
return &MotorFeedback;
}

50
User/device/djiMotor.h
View File

@ -98,29 +98,6 @@ typedef struct
} motor_measure_t; } motor_measure_t;
//小米
typedef struct
{
int16_t position;
int16_t speed;
int16_t K_P;
int16_t K_D;
int16_t K_C;
int16_t Pmax;//决定最大角度值，+-1 -> 最大+-360°
}JZ_xiaomi_t;
typedef struct {
uint8_t can_id;
float position_deg;
float speed_rads;
float current_A;
} MotorFeedback_t;
//motor calc ecd to angle //motor calc ecd to angle
#define MOTOR_ECD_TO_ANGLE_3508 (360.0 / 8191.0 / (3591.0/187.0)) #define MOTOR_ECD_TO_ANGLE_3508 (360.0 / 8191.0 / (3591.0/187.0))
@ -179,8 +156,6 @@ extern void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_Hand
extern motor_measure_t *get_motor_point(uint8_t i); extern motor_measure_t *get_motor_point(uint8_t i);
extern CAN_MotorFeedback_t *get_vesc_point(uint8_t i); extern CAN_MotorFeedback_t *get_vesc_point(uint8_t i);
extern MotorFeedback_t *get_CyberGear_point(void);
/** /**
* @brief 数据处理函数 * @brief 数据处理函数
* @param[in] none * @param[in] none
@ -197,6 +172,31 @@ void CAN_VESC_HEAD(uint8_t controller_id);
int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan); int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan);
//小米
typedef struct
{
int16_t position;
int16_t speed;
int16_t K_P;
int16_t K_D;
int16_t K_C;
int16_t Pmax;//决定最大角度值，+-1 -> 最大+-360°
}JZ_xiaomi_t;
typedef struct {
uint8_t can_id;
float position_deg;
float speed_rads;
float current_A;
} MotorFeedback_t;
void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) ; void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) ;

281
User/module/ball.cpp
View File

@ -10,10 +10,16 @@ extern RC_ctrl_t rc_ctrl;
extern int key; extern int key;
//伸缩 //伸缩
#define I_ANGLE 0 #define M_SPEED 4000
#define O_ANGLE 140 #define I_ANGLE1 180
#define I_ANGLE2 -75
#define O_ANGLE1 340
#define O_ANGLE2 -240
const fp32 Ball:: Extend_speed_PID[3] = { 40, 0.0, 0.1};
const fp32 Ball:: Extend_angle_PID[3]= { 25, 0.1, 0};
//PE11 气缸 //PE11 气缸
@ -21,30 +27,57 @@ Ball ::Ball()
{ {
detect_init(); detect_init();
//小米电机 //两个伸缩6020 左207 右208
feedback=get_CyberGear_point(); Extern_Motor[0] = get_motor_point(6);
Extern_Motor[1] = get_motor_point(7);
//小米电机初始化 Extern_Motor[0]->type = GM6020;
xiaomi.position = 0; // Extern_Motor[1]->type = GM6020;
xiaomi.speed = 20; // PID_init(&extend_speed_pid[0],PID_POSITION,Extend_speed_PID,10000, 2000);
xiaomi.K_P = 100; // PID_init(&extend_angle_pid[0],PID_POSITION,Extend_angle_PID,20000, 1000);
xiaomi.K_D =20; //
xiaomi.K_C = 2 ; PID_init(&extend_speed_pid[1],PID_POSITION,Extend_speed_PID,10000, 2000);
xiaomi.Pmax =1; PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,20000, 1000);
e_result[0] = 0;
e_result[1] = 0;
angleSet[0] = 0;
angleSet[1] = 0;
//状态机状态初始化 //状态机状态初始化
currentState1= BALL_IDLE; currentState1= BALL_IDLE;
} }
void Ball ::Extend_mcontrol(int angle1,int angle2)
{
int16_t delta[2];
angleSet[0] = angle1/2;
angleSet[1] = angle2/2;
fp32 angle_get[2];
angle_get[0] = motor_ecd_to_angle_change(Extern_Motor[0]->ecd, angleSet[0]);
angle_get[1] = motor_ecd_to_angle_change(Extern_Motor[1]->ecd, angleSet[1]);
delta[0] = PID_calc(&extend_angle_pid[0], angle_get[0] , angleSet[0]);
e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]);
delta[1] = PID_calc(&extend_angle_pid[1], angle_get[1] , angleSet[1]);
e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]);
}
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800 // E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 200 中 1000 👇1800 // G键 sw[6]👆 1800 中 1000 👇200
// sw[5] 👆 200 👇1800 // sw[5] 👆 200 👇1800
//左旋 sw[7] 200 --1800 //左旋 sw[7] 200 --1800
void Ball::rc_mode() void Ball::rc_mode()
{ {
if(rc_ctrl.sw[6]==200) if(rc_ctrl.sw[6]==1800)
{ {
rc_key=UP2; rc_key=UP2;
} }
@ -52,7 +85,7 @@ void Ball::rc_mode()
{ {
rc_key=MIDDLE2; rc_key=MIDDLE2;
} }
if(rc_ctrl.sw[6]==1800) if(rc_ctrl.sw[6]==200)
{ {
rc_key=DOWN2; rc_key=DOWN2;
} }
@ -68,7 +101,21 @@ void Ball::rc_mode()
} }
#if TESTBALL void Ball::Move_Extend(void)
{
if(extern_key==IN)
{
Extend_mcontrol(I_ANGLE1, I_ANGLE2); // 内伸
}
else if(extern_key==OUT)
{
Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸
}
else
{
Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸
}
}
void Ball::ballDown(void) void Ball::ballDown(void)
{ {
@ -78,21 +125,9 @@ void Ball::ballDown(void)
} }
void Ball::Move_Extend()
{
if(extern_key==IN)
{
xiaomi.position = 0;
}
if(extern_key==OUT)
{
xiaomi.position = 90;
}
}
void Ball::ball_control() 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();
@ -110,11 +145,11 @@ void Ball::ball_control()
break; break;
case UP2: case UP2:
ballDown(); ballHadling();
break; break;
case DOWN2: case DOWN2:
ballHadling(); ballDown();
break; break;
@ -128,7 +163,7 @@ void Ball::ball_control()
void Ball::Send_control() void Ball::Send_control()
{ {
CAN_XiaoMi(1,&xiaomi,&hcan2); CAN_cmd_1FF(0,0,e_result[0],e_result[1],&hcan1);
osDelay(1); osDelay(1);
} }
@ -146,7 +181,7 @@ void Ball::ballHadling(void)
case BALL_IDLE: case BALL_IDLE:
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); //确保爪气缸关闭 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 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if (key > 0 ||rc_key == DOWN2) // 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 key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数 triggerCount = 0; // 重置触发计数
@ -189,7 +224,7 @@ void Ball::ballHadling(void)
case BALL_CLOSE: case BALL_CLOSE:
if (triggerCount == 2) // 确保是第二次触发 if (triggerCount == 2) // 确保是第二次触发
{ {
osDelay(50); osDelay(100); // 延时去抖
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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 currentState1 = BALL_FINISH; // 切换到反转状态
} }
@ -210,185 +245,5 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态 currentState1 = BALL_IDLE; // 默认回到空闲状态
break; break;
} }
} }
#endif
#if ONE_CONTROL
//任务通知来作全过程
void Ball::ballDown(void)
{
xiaomi.position = I_ANGLE;
if(feedback->position_deg== I_ANGLE) // 确保伸缩电机到位
{
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
}
if(ball_state==0)//检测到球
{
osThreadFlagsSet(task_struct.thread.ball, BALL_DOWN);
//osThreadFlagsSet(task_struct.thread.shoot, BALL_DOWN);
xiaomi.position = O_ANGLE;
}
if(hand_thread & BALL_DOWN)
{
if(feedback->position_deg== O_ANGLE)
{
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK); //告诉发射球出去了
osThreadFlagsSet(task_struct.thread.ball, EXTEND_OK); //告诉发射球出去了
}
}
}
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(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
if(hand_thread & EXTEND_OK)
{
xiaomi.position = O_ANGLE; // 伸缩电机伸出去
}
else
{
xiaomi.position = I_ANGLE; // 伸缩电机回位,底盘可能跑的更好
}
if (currentState1 == BALL_FINISH)
{
currentState1 = BALL_IDLE;
}
else {
currentState1 = BALL_IDLE; // 默认回到空闲状态
}
}
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){
case MIDDLE2:
Idle_control();
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
break;
}
Send_control();
}
void Ball::Send_control()
{
CAN_XiaoMi(1,&xiaomi,&hcan2);
osDelay(1);
}
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)
{
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 (key > 0 ||rc_key == DOWN2) // 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;
}
break;
case BALL_FORWARD:
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
{
//osDelay(10); // 延时去抖动
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
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
{
triggerCount++; // 增加触发计数
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
break;
case BALL_CLOSE:
if (triggerCount == 2) // 确保是第二次触发
{
osDelay(50);
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(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
break;
default:
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
#endif

21
User/module/ball.hpp
View File

@ -11,9 +11,6 @@
#include "filter.h" #include "filter.h"
#include "calc_lib.h" #include "calc_lib.h"
#define TESTBALL 0
#define ONE_CONTROL 1
// 定义状态枚举 // 定义状态枚举
typedef enum { typedef enum {
BALL_IDLE, // 空闲状态 BALL_IDLE, // 空闲状态
@ -59,19 +56,17 @@ public:
void ballDown(void); void ballDown(void);
void Send_control(void); void Send_control(void);
void Move_Extend(void); void Move_Extend(void);
void Idle_control(void);
void rc_mode(void); void rc_mode(void);
void Extend_mcontrol(int angle1,int angle2); void Extend_mcontrol(int angle1,int angle2);
void ball_control(void); void ball_control(void);
BallState_t currentState1; // 当前状态 BallState_t currentState1; // 当前状态
int flag_thread;//暂时还没用到 int flag;//暂时还没用到
int ball_state ;//光电检测 int ball_state ;//光电检测
//伸缩6020
//小米电机伸缩 int16_t e_result[2];
MotorFeedback_t *feedback; motor_measure_t * Extern_Motor[2];
JZ_xiaomi_t xiaomi;
//==========================公共变量==========================// //==========================公共变量==========================//
@ -79,11 +74,17 @@ public:
int16_t extern_key; int16_t extern_key;
//用于传接球,运球后通知 //用于传接球,运球后通知
volatile BallState_t ballStatus;//是否有球 volatile BallState_t ballStatus;//是否有球
volatile uint32_t hand_thread;//接收传回的线程通知 volatile uint32_t flag_thread;//接收传回的线程通知
private: private:
static const float Extend_speed_PID[3];
static const float Extend_angle_PID[3];
pid_type_def extend_speed_pid[2];
pid_type_def extend_angle_pid[2];
float angleSet[2];
}; };

42
User/module/shoot.cpp
View File

@ -20,9 +20,8 @@ NUC_t nuc_v;
//B键 sw[3]👆 200 开 👇1800 关 //B键 sw[3]👆 200 开 👇1800 关
//左旋钮 sw[4] 👈 200 👉1800 //左旋钮 sw[4] 👈 200 👉1800
//尽量别动这组pid const fp32 Shoot:: M2006_speed_PID[3] = {5, 0, 0};
const fp32 Shoot:: M2006_speed_PID[3] = {5, 0, 0.01}; const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0, 0.1};
const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0.1, 0};
#define INIT_POS -130 #define INIT_POS -130
#define TOP_POS -210 #define TOP_POS -210
@ -39,8 +38,8 @@ Shoot::Shoot()
//扳机初始化 //扳机初始化
trigger_Motor= get_motor_point(0);//id 201 trigger_Motor= get_motor_point(0);//id 201
trigger_Motor->type=M2006; trigger_Motor->type=M2006;
PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,5000, 2000);//pid初始化 PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,3000, 2000);//pid初始化
PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,5000, 2000);//pid初始化 PID_init(&angle_pid,PID_POSITION,M2006_angle_PID,3000, 2000);//pid初始化
t_speedSet = 0; t_speedSet = 0;
result = 0; result = 0;
@ -175,11 +174,12 @@ void Shoot::shoot_control() {
switch (mode_key) switch (mode_key)
{ {
case VSION: case VSION:
fire_pos = distance; // 视觉拟合的力
switch (rc_key) { switch (rc_key) {
case DOWN1: case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置 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 go1.Pos = fire_pos; // 设置蓄力电机位置
t_posSet = Tigger_ZERO; // 扳机松开 t_posSet = Tigger_ZERO; // 扳机松开
@ -209,15 +209,12 @@ void Shoot::shoot_control() {
} }
break; break;
case TEST: case TEST:
//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: case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置 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 = control_pos + knob_increment; // 根据旋钮值调整发射位置
//fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置 fire_pos = control_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 go1.Pos = fire_pos; // 设置蓄力电机位置
t_posSet = Tigger_ZERO; // 扳机松开 t_posSet = Tigger_ZERO; // 扳机松开
@ -291,12 +288,27 @@ void Shoot :: shoot_Current()
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_Start();
BSP_Buzzer_Set(1,5000); BSP_Buzzer_Set(1,5000);
// see_you_again();
//currentState = SHOOT_WAIT; // 等待发射信号 //currentState = SHOOT_WAIT; // 等待发射信号
//在拨杆切换时触发了 //在拨杆切换时触发了
} }
} }
break; break;
// case SHOOT_WAIT:
// // 等待发射信号
// if (trigger_key == SHOOT) {
// currentState = SHOOT_FIRE; // 切换到发射状态
// }
// break;
// case SHOOT_FIRE:
// // 发射逻辑
// t_posSet = Tigger_ZERO; // 扳机扣动
// if (t_posSet <= 50) { // 假设250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
// }
// break;
default: default:
currentState = SHOOT_IDLE; // 默认回到空闲状态 currentState = SHOOT_IDLE; // 默认回到空闲状态
@ -307,18 +319,10 @@ void Shoot :: shoot_Current()
void Shoot::RemoveError() { void Shoot::RemoveError() {
currentState = SHOOT_IDLE; currentState = SHOOT_IDLE;
control_pos = TOP_POS; control_pos = TOP_POS;
go1.Pos = control_pos;
if(feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f) if(feedback.fd_gopos >= control_pos - 0.5f && feedback.fd_gopos <= control_pos + 0.5f)
{ {
t_posSet = Tigger_ZERO; t_posSet = Tigger_ZERO;
is_hooked = false; is_hooked = false;
} }
if(trigger_Motor->total_angle>=Tigger_ZERO-10)
{
//认为完全松开
control_pos=INIT_POS;
BSP_Buzzer_Stop();
}
go1.Pos = control_pos;
} }

1
User/task/ballTask.cpp
View File

@ -34,7 +34,6 @@ void FunctionBall(void *argument)
ball.ball_control(); // 控制球的动作 ball.ball_control(); // 控制球的动作
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); osDelayUntil(tick);

2
User/task/shootTask.cpp
View File

@ -30,7 +30,7 @@ while(1)
//我放的任务通知 运球成功放置过来后 //我放的任务通知 运球成功放置过来后
shoot.flag_thread=osThreadFlagsGet(); shoot.flag_thread=osThreadFlagsGet();
if(shoot.flag_thread & BALL_DOWN) if(shoot.flag_thread & BALL_OK)
{ {
} }