一次运球完自动放球

MDK-ARM/.vscode/c_cpp_properties.json

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

@@ -102,73 +102,3 @@
 
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MDK-ARM/.vscode/uv4.log

@@ -1,76 +1,13 @@
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\Develop\keil\ARM\ARMCC\Bin'
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Rebuild target 'R1'
+Build target 'R1'
-assembling startup_stm32f407xx.s...
-compiling crc.c...
-compiling dma.c...
-compiling gpio.c...
-compiling tim.c...
-compiling stm32f4xx_hal_rcc_ex.c...
-compiling spi.c...
-compiling stm32f4xx_hal_can.c...
-compiling main.c...
-compiling usart.c...
-compiling freertos.c...
-compiling stm32f4xx_it.c...
-compiling can.c...
-compiling stm32f4xx_hal_msp.c...
-compiling stm32f4xx_hal_rcc.c...
-compiling stm32f4xx_hal_cortex.c...
-compiling stm32f4xx_hal_pwr.c...
-compiling stm32f4xx_hal_crc.c...
-compiling stm32f4xx_hal_dma.c...
-compiling stm32f4xx_hal_pwr_ex.c...
-compiling stm32f4xx_hal_flash_ex.c...
-compiling stm32f4xx_hal_flash_ramfunc.c...
-compiling stm32f4xx_hal_flash.c...
-compiling stm32f4xx_hal.c...
-compiling stm32f4xx_hal_gpio.c...
-compiling stm32f4xx_hal_exti.c...
-compiling croutine.c...
-compiling stm32f4xx_hal_dma_ex.c...
-compiling stm32f4xx_hal_spi.c...
-compiling event_groups.c...
-compiling list.c...
-compiling stream_buffer.c...
-compiling queue.c...
-compiling heap_4.c...
-compiling timers.c...
-compiling stm32f4xx_hal_tim.c...
-compiling port.c...
-compiling tasks.c...
-compiling calc_lib.c...
-compiling crc_ccitt.c...
-compiling kalman.c...
-compiling gpio_it.c...
-compiling system_stm32f4xx.c...
-compiling can_it.c...
-compiling bsp_delay.c...
-compiling can_init.c...
-compiling bsp_buzzer.c...
-compiling uart_it.c...
-compiling stm32f4xx_hal_tim_ex.c...
-compiling stm32f4xx_hal_uart.c...
-compiling user_math.c...
-compiling filter.c...
-compiling pid.c...
-compiling buzzer.c...
-compiling userTask.c...
-compiling cmsis_os2.c...
-compiling detect.c...
-compiling vofa.c...
-compiling GO_M8010_6_Driver.c...
-compiling remote_control.c...
-compiling initTask.c...
-compiling nuc.c...
-compiling nucTask.cpp...
-compiling encodeCan.cpp...
-compiling djiMotor.c...
-compiling ballTask.cpp...
 compiling shootTask.cpp...
-compiling shoot.cpp...
+compiling nuc.c...
+compiling initTask.c...
 compiling ball.cpp...
+compiling nucTask.cpp...
+compiling shoot.cpp...
 linking...
-Program Size: Code=31312 RO-data=1832 RW-data=280 ZI-data=32264  
+Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:25
+Build Time Elapsed:  00:02:09

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

@@ -1 +1 @@
-2025/8/27 9:23:25
+2025/7/4 9:21:52

MDK-ARM/R1.uvoptx

@@ -12,7 +12,7 @@
     <lExt>*.lib</lExt>
     <tExt>*.txt; *.h; *.inc; *.md</tExt>
     <pExt>*.plm</pExt>
-    <CppX>*.cpp; *.cc; *.cxx</CppX>
+    <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
   </Extensions>
 
@@ -26,7 +26,7 @@
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
-      <CLKADS>25000000</CLKADS>
+      <CLKADS>12000000</CLKADS>
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
@@ -93,7 +93,7 @@
         <tRbreak>1</tRbreak>
         <tRwatch>1</tRwatch>
         <tRmem>1</tRmem>
-        <tRfunc>0</tRfunc>
+        <tRfunc>1</tRfunc>
         <tRbox>1</tRbox>
         <tRtrace>1</tRtrace>
         <sRSysVw>1</sRSysVw>
@@ -117,6 +117,11 @@
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -139,13 +144,13 @@
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>CMSIS_AGDI</Key>
+          <Key>UL2CM3</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>UL2CM3</Key>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
+          <Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
@@ -153,20 +158,58 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>and1</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ws</ItemText>
+          <ItemText>shoot,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nucbuf</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nuc_v</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>abc,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot_wait,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>error_code</ItemText>
         </Ww>
       </WatchWindow1>
+      <MemoryWindow4>
+        <Mm>
+          <WinNumber>4</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>nucbuf</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>0</periodic>
+        <periodic>1</periodic>
         <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
@@ -185,7 +228,7 @@
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
-        <StkLoc>0</StkLoc>
+        <StkLoc>1</StkLoc>
         <TrcWin>0</TrcWin>
         <newCpu>0</newCpu>
         <uProt>0</uProt>
@@ -205,7 +248,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>1</EnableFlashSeq>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -1043,7 +1086,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/R1.uvprojx

@@ -137,7 +137,7 @@
             <DriverSelection>4101</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
-          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash2>BIN\UL2V8M.DLL</Flash2>
           <Flash3></Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>

README.md

@@ -5,60 +5,19 @@ r1上层
 ## 外设
 
 + CAN1
-  + 扳机2006 id:0x201
+  - 扳机2006 id:0x205
-+ CAN2
+  - 三摩擦 id:123 
-  + 小米电机 id:1  
 + UART
-  + uart1 波特率4000000 id：2
+  - uart1 波特率4000000 id：2
-  + uart6 nuc
+  - uart6 nuc
-  + uart3 遥控器接收
+  - uart3 遥控器接收
 + GPIO
-  + PI6运球光电
+  - PI6运球光电 
-  + PE13 爪气缸
+  - PE11 运球气缸
-  + 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  √
 
-## 思路
-
-+ 👆 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  + 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
-  + 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
-
-+ 修复
-  + 6.29 发射误操作导致没有拟合作用就射了(已修复)
-  + 6.29 串口不稳定 重新拔插一下
-  + 6.29 nuc位置更新慢
-  + 6.29 添加光电上电保护防止跳尺(已添加)
-  

User/bsp/TopDefine.h

@@ -16,7 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 0
+#define ONE_CONTROL 1
 
 //是否使用大疆DT7遥控器
 #ifndef DT7
@@ -28,8 +28,7 @@
 //================任务通知,时间组================//
 //事件组
 #define EVENT_RC    (1<<1)
-#define EVENT_CAN1  (1<<2)
+#define EVENT_CAN   (1<<2)
-#define EVENT_CAN2  (1<<3)
 
 //================任务通知================//
 //运球
@@ -43,8 +42,6 @@
 #define EXTEND_OK	(1<<3)
 //等待ok
 #define WAIT_OK		(1<<4)
-//可以防守收回
-#define DEF_READY	(1<<5)
 
 //要发送ok了
 #define BALL_SEND (1<<6)

User/device/djiMotor.c

@@ -215,13 +215,15 @@ static osThreadId_t thread_alert;
 void Dji_Motor_CB()
 {
   HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
-  osThreadFlagsSet(thread_alert, EVENT_CAN1);
 
+  osThreadFlagsSet(thread_alert, EVENT_CAN);
+ // osEventFlagsSet(eventReceive, EVENT_CAN);
 }
 void can2_Motor_CB(void)
 {
   HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
-  osThreadFlagsSet(thread_alert, EVENT_CAN2);
+
+  //osThreadFlagsSet(thread_alert, EVENT_CAN);
 }
 
 /**
@@ -232,6 +234,9 @@ void can2_Motor_CB(void)
 void djiInit(void)
 {
   thread_alert = osThreadGetId();
+
+  
+
   BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
                           Dji_Motor_CB);
   BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@@ -245,9 +250,11 @@ void djiInit(void)
 */
 uint32_t waitNewDji() 
 {
-  // 等待CAN1或CAN2任意一个事件
+  // return osEventFlagsWait(
+	// 			eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
   return osThreadFlagsWait(
-    EVENT_CAN1 | EVENT_CAN2, osFlagsWaitAny, osWaitForever);
+    EVENT_CAN, osFlagsWaitAll, osWaitForever);
+
 }
 #endif
 

User/device/nuc.c

@@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
 
 volatile uint32_t drop_message = 0;
 
-uint8_t nucbuf[18];
+uint8_t nucbuf[16];
 uint8_t packet[32]; // 假设最大数据包长度为 32 字节
 
 static void NUC_CBLTCallback(void)
@@ -82,62 +82,6 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
   return DEVICE_OK; // 发送成功
 }
 
-// int8_t NUC_RawParse(NUC_t *n) {
-//   if (n == NULL) return DEVICE_ERR_NULL;
-//   union {
-//       float x[3];
-//       char data[12];
-//   } instance; // 方便在浮点数和字符数组之间进行数据转换
-
-//   // 校验数据包头
-//   if(nucbuf[0]!=HEAD) goto error;  //发送ID不是底盘
-//   else
-//   {
-//     n->status_fromnuc = nucbuf[1];
-//     n->ctrl_status = nucbuf[2];
-//  switch (n->status_fromnuc) {
-//       case VISION:
-//           /* 协议格式 
-//              0xFF  HEAD
-//              0x07
-//                控制帧
-//              0x01  相机帧
-//              x    fp32
-//              0xFE  TAIL
-//           */
-//       if (nucbuf[7] != TAIL) goto error;
-
-//       instance.data[3] = nucbuf[6];
-//       instance.data[2] = nucbuf[5];
-//       instance.data[1] = nucbuf[4];
-//       instance.data[0] = nucbuf[3];
-//       n->vision.x = instance.x[0];
-
-//       instance.data[7] = nucbuf[10];
-//       instance.data[6] = nucbuf[9];
-//       instance.data[5] = nucbuf[8];
-//       instance.data[4] = nucbuf[7];
-//       n->vision.y = instance.x[1];
-
-
-//           break;
-//   }
-//    return DEVICE_OK;
-//   }
-
-
-// error:
-//   drop_message++;
-//   return DEVICE_ERR;
-// }
-
-
-  /* 协议格式 
-      0xFF  HEAD
-      x    fp32
-      y    fp32
-      0xFE  TAIL
-  */
 int8_t NUC_RawParse(NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
@@ -149,24 +93,43 @@ int8_t NUC_RawParse(NUC_t *n) {
   if(nucbuf[0]!=HEAD) goto error;  //发送ID不是底盘
   else
   {
+    n->status_fromnuc = nucbuf[1];
+    n->ctrl_status = nucbuf[2];
+ switch (n->status_fromnuc) {
+      case VISION:
+          /* 协议格式 
+             0xFF  HEAD
+             0x07
+               控制帧
+             0x01  相机帧
+             x    fp32
+             0xFE  TAIL
+          */
+      if (nucbuf[7] != TAIL) goto error;
 
-      if (nucbuf[17] != TAIL) goto error;
+      instance.data[3] = nucbuf[6];
-
+      instance.data[2] = nucbuf[5];
-      instance.data[3] = nucbuf[8];
+      instance.data[1] = nucbuf[4];
-      instance.data[2] = nucbuf[7];
+      instance.data[0] = nucbuf[3];
-      instance.data[1] = nucbuf[6];
-      instance.data[0] = nucbuf[5];
       n->vision.x = instance.x[0];
 
-      instance.data[7] = nucbuf[16];
+      instance.data[7] = nucbuf[10];
-      instance.data[6] = nucbuf[15];
+      instance.data[6] = nucbuf[9];
-      instance.data[5] = nucbuf[14];
+      instance.data[5] = nucbuf[8];
-      instance.data[4] = nucbuf[13];
+      instance.data[4] = nucbuf[7];
       n->vision.y = instance.x[1];
 
+      instance.data[11] = nucbuf[11];
+      instance.data[10] = nucbuf[12];
+      instance.data[9] = nucbuf[13];
+      instance.data[8] = nucbuf[14];
+      n->vision.z = instance.x[2];
+          break;
   }
    return DEVICE_OK;
-  
+  }
+
+
 error:
   drop_message++;
   return DEVICE_ERR;

User/module/ball.cpp

@@ -11,14 +11,14 @@ extern int ball_exit;
 
 // 外死点168  外163 中150  内127  限位124.8
 // 伸缩
-//外死点89  外85 中75  内49  限位46 
+//外死点168  外163 中150  内127  限位124.8
+#define I_ANGLE 127
+#define O_ANGLE 163
+#define WAIT_POS 150
+#define IN 124.8
+#define OUT 168
 
-#define I_ANGLE 49
+// PE11 气缸
-#define O_ANGLE 85
-#define WAIT_POS 75
-#define HANGDING_POS 89
-
-// PE11 气缸git stash apply
 
 Ball ::Ball()
 {
@@ -107,7 +107,7 @@ void Ball::Move_Extend()
     }
     if (extern_key == OUT)
     {
-        xiaomi.position = HANGDING_POS;
+        xiaomi.position = O_ANGLE;
     }
 }
 
@@ -218,13 +218,12 @@ void Ball::ballHadling(void)
 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 0，无球 1)
+    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
     
 
     // 进攻
     if (ready_key == SIDE)
     {
-        osThreadFlagsClear(DEF_READY);
         switch (rc_key)
         {
         case MIDDLE2:
@@ -237,6 +236,10 @@ void Ball::ball_control()
 
         case DOWN2:
             ballHadling();
+            if(hand_thread & HANDING_FINISH)
+            {
+              ballDown();  
+            }
             break;
         }
 
@@ -245,23 +248,10 @@ void Ball::ball_control()
     // 防守
     else if(ready_key == DEF)
     {
-        if(hand_thread & DEF_READY)
+        xiaomi.position = I_ANGLE;                                     // 保持收回
-        {
-         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
 
-        osThreadFlagsClear(EXTEND_OK);
-        osThreadFlagsClear(READY_TELL); // 蓄力标志位
-        osThreadFlagsClear(HANDING_FINISH);
-
-        haveball=0;//变为空球状态
-
-        currentState1 = BALL_IDLE;
-
         Send_control();
     }
 
@@ -271,12 +261,11 @@ void Ball::ball_control()
 
 void Ball::ballDown(void)
 {
-     osThreadFlagsClear(HANDING_FINISH);
     switch (currentState1)
     {
-    case BALL_IDLE:
+    case BALL_FINISH:
         xiaomi.position = I_ANGLE; // 保持收回
-        if (feedback->position_deg >= I_ANGLE - 1 && feedback->position_deg <= I_ANGLE + 1)
+        if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
         {
             currentState1 = EXTEND_DOWN;
         }
@@ -295,7 +284,7 @@ void Ball::ballDown(void)
 
     case EXTEND_OUT:
         xiaomi.position = O_ANGLE; // 保持伸出
-        if (feedback->position_deg >= O_ANGLE - 1 && feedback->position_deg <= O_ANGLE + 1)
+        if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
         {
 
             osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
@@ -315,48 +304,25 @@ void Ball::ballDown(void)
     }
 }
 
-
 void Ball::Idle_control()
 {
-    if(ball_state==1 && haveball==0)// 读取光电状态(有球 0，无球 1)
+    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
-    {
-      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸张开  
-
-    }
-    if(ball_state==0)
-    {
-        haveball=1;//变为持球状态
-        osDelay(500);
-        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸闭合
-    }
-
-
-    // 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);
+    osThreadFlagsClear(HANDING_FINISH); 
 
     if (ready_key == SIDE) // 检测是否准备好
     {
-        if(hand_thread & HANDING_FINISH)
+        xiaomi.position = WAIT_POS;
+        if (feedback->position_deg >= WAIT_POS - 3)
         {
-            xiaomi.position=HANGDING_POS;//继续保持外伸
-
-        }
-        else
-        {
-          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
     {
@@ -378,11 +344,9 @@ void Ball::Idle_control()
     {
         currentState1 = BALL_IDLE;
     }
-
+    // xiaomi.position = I_ANGLE;
 }
 
-
-
 int ball_state = 0;
 int last_ball_state = 0; // 上一次的光电状态
 
@@ -394,8 +358,8 @@ void Ball::ballHadling(void)
     case BALL_IDLE:
         if (rc_key == DOWN2)
         {
-            xiaomi.position = HANGDING_POS;                 // 外伸
+            xiaomi.position = O_ANGLE;                 // 外伸
-            if (feedback->position_deg >= HANGDING_POS - 0.5f) // 确保伸缩电机到位
+            if (feedback->position_deg >= O_ANGLE - 1) // 确保伸缩电机到位
             {
                 currentState1 = BALL_FORWARD;
             }
@@ -440,11 +404,11 @@ void Ball::ballHadling(void)
 
     case BALL_FINISH:
         osDelay(50); // 延时 50ms
-        osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
+         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
-        break;
 
+        break;
     default:
         currentState1 = BALL_IDLE; // 默认回到空闲状态
         break;

User/module/ball.hpp

@@ -74,10 +74,11 @@ public:
     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
 
 private:  
-    bool haveball;
+
 
     
 };

User/module/gimbal.cpp

@@ -0,0 +1,113 @@
+#include "TopDefine.h"
+#include "gimbal.hpp"
+#include "remote_control.h"
+#include "calc_lib.h"
+#include "FreeRTOS.h"
+#include <cmsis_os2.h>
+
+#define KP 0.12
+#define KD 0.008
+//可活动角度
+#define ANGLE_ALLOW 1.0f
+extern RC_ctrl_t rc_ctrl;
+NUC_t nuc;
+
+const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1,  0};
+const fp32 Gimbal:: Gimbal_angle_PID[3]=  { 5, 0.01, 0};
+
+#if GM6020ING ==1
+Gimbal::Gimbal()
+{
+  // GM6020_Motor = get_motor_point(6);
+  // GM6020_Motor->type = GM6020;
+  // PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
+  // PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
+
+  // result = 0;
+  // angleSet = 0;
+
+}
+
+void Gimbal::gimbalFlow()
+{
+  int16_t delta[1];
+  //angleSet = angle1;
+  delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
+  result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
+
+  CAN_cmd_1FF(0,0,result,0,&hcan1);
+  osDelay(1);
+
+}
+
+void Gimbal::gimbalZero()
+{
+  angleSet=0;
+  //gimbalFlow();
+
+}
+
+void Gimbal::gimbalVision(const NUC_t &nuc)
+{
+    int16_t delta[1];
+    angleSet = nuc.vision.x;
+    delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
+    result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
+
+    CAN_cmd_1FF(0,0,result,0,&hcan1);
+    osDelay(1);
+}
+
+
+
+#else
+Gimbal::Gimbal()
+{
+
+			Kp = KP;
+			Kd = KD;
+			allowRange = ANGLE_ALLOW;
+}   
+
+void Gimbal::gimbalInit(void)
+{
+		int i;
+    GO_M8010_init();
+    for(i = 0;i < GO_NUM;i ++)
+    {
+        goData[i] = getGoPoint(i);//获取电机数据指针
+
+        angleSet[i] = 0;
+        offestAngle[i] = 0;
+				GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
+				offestAngle[i] = goData[i]->Pos;
+				HAL_Delay(100);
+
+    }
+		
+}
+
+void Gimbal::gimbalFlow(void)
+{
+
+    //angleSet[0] = map_fp32((float)rc_ctrl.ch[3],-800.0f,800.0f,-allowRange,allowRange) + offestAngle[0];
+    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
+		osDelay(1);
+
+
+}
+
+
+void Gimbal::gimbalZero(void)
+{
+  GO_M8010_send_data(&huart6, 0,0,0,0,0,0,0);
+}
+
+void Gimbal::gimbalVision(const NUC_t &nuc)
+{
+    angleSet[0] = nuc.vision.x;
+    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
+    osDelay(1);
+}
+
+#endif

User/module/gimbal.hpp

@@ -0,0 +1,57 @@
+#ifndef GIMBAL_HPP
+#define GIMBAL_HPP
+
+#include "GO_M8010_6_Driver.h"
+#include "djiMotor.h"
+#include "pid.h"
+#include "nuc.h"
+
+class Gimbal
+{
+public:
+    Gimbal();
+    void gimbalFlow(void);//云台随遥控器转动
+    void gimbalZero(void);//云台零阻尼模式
+		void gimbalInit(void);//go初始化
+    void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
+
+    int16_t result;
+    //暂存要发送的扭矩
+    //float result[GO_NUM]; 
+//		float Kp;
+//		float Kd;
+private:
+
+#if GM6020ING == 1
+//GM6020电机数据
+ motor_measure_t *GM6020_Motor;
+
+ static const float Gimbal_speed_PID[3];
+ static const float Gimbal_angle_PID[3];
+
+  //电机速度pid结构体
+  pid_type_def speed_pid;
+  //位置环pid
+  pid_type_def angle_pid;
+
+  float angleSet;
+
+#else
+    motor_measure_t *motorData[GO_NUM];
+  //视觉发送的要调的角度
+    float self_angleSet;
+    GO_Motorfield* goData[GO_NUM];
+    //暂存目标位置
+    float angleSet[GO_NUM];
+    float offestAngle[GO_NUM];//go数据
+		float Kp;
+		float Kd;
+		float allowRange;
+
+#endif    
+};
+
+
+
+
+#endif

User/module/shoot.cpp

@@ -15,7 +15,7 @@ extern RC_ctrl_t rc_ctrl;
 NUC_t nuc_v;
 float vofa[8];
 
-double test_distance=4.0;
+double test_distance;
 
 // sw[7]👆 1694  中 1000 👇306
 // sw[2]👆 1694   👇306
@@ -29,22 +29,19 @@ double test_distance=4.0;
 const fp32 Shoot::M2006_speed_PID[3] = {5, 0, 0.01};
 const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
 
-#define TO_TOP 13.0f
+#define TO_TOP 10.0f
 #define TO_BOTTOM 6.0f
 
-#define INIT_POS -120
+#define INIT_POS -130
 #define TOP_POS -211
 #define BOTTOM_POS 0
-#define WAIT_POS -170
-#define CHANEGE_POS -205
 #define GO_ERROR 1.0f
-#define Tigger_DO -10
+#define Tigger_DO 0
-#define Tigger_ZERO 140
+#define Tigger_ZERO 120
 #define Tigger_ERROR 3
 
 float knob_increment;
 double last_distance = 4.0f; // 4米做测试吧
-double last_pass = 4.0f; // 4米做测试吧
 
 Shoot::Shoot()
 {
@@ -74,7 +71,6 @@ Shoot::Shoot()
     currentState = SHOOT_IDLE;
 
     LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
-    LowPassFilter2p_Init(&pass_filter, 500.0f, 80.0f); // 给distance 做滤波
 }
 
 void Shoot::trigger_control()
@@ -86,27 +82,14 @@ void Shoot::trigger_control()
     CAN_cmd_200(result, 0, 0, 0, &hcan1);
 }
 
-//好使老拟合
-// float shoot_fitting(float x)
-// {
-//     return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
-// }
-
-// float shoot_fitting(float x)
-// {
-//     return 1.4255807f * x * x + 12.138447f * x + -136.35306f;
-// }
-
 float shoot_fitting(float x)
 {
-    return 1.2143736f * x * x + 14.733786f * x + -133.3627f;
+    return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f;
 }
 
-
-
 float pass_fitting(float x)
 {
-    return 0.36807548f * x * x + 25.002169f * x + -199.2727f;
+    return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f;
 }
 
 void Shoot::distanceGet(const NUC_t &nuc_v)
@@ -117,13 +100,8 @@ void Shoot::distanceGet(const NUC_t &nuc_v)
         last_distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x);
     }
 
-    if(nuc_v.vision.y >= 0.0f && nuc_v.vision.y <= 7.5f)
-    {
-        last_pass = LowPassFilter2p_Apply(&pass_filter, nuc_v.vision.y);
-    }
     // 否则不更新，保持上一次的值
     distance = last_distance;
-    pass_distance =last_pass;
 }
 
 int Shoot::GO_SendData(float pos, float limit)
@@ -171,10 +149,6 @@ int Shoot::GO_SendData(float pos, float limit)
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
 
-
-float ws=-5.0f;
-float and1=0.0f;
-
 void Shoot::rc_mode()
 {
     // 底部光电检测（假设0为到位，1为未到位，根据实际硬件调整）
@@ -226,44 +200,22 @@ void Shoot::rc_mode()
     {
         ready_key = DEFENSE;
     }
-    //400--640为1  730--860为2 900到1200为3档中间  1300--1500为4
-    if(rc_ctrl.sw[7]<=300)
-    {
-        and1=0.0f;
-    }
-    if(rc_ctrl.sw[7]>=400&&rc_ctrl.sw[7]<=640)
-    {
-        and1=-2.0f;
-    }
-    if(rc_ctrl.sw[7]>=730&&rc_ctrl.sw[7]<=860)
-    {
-        and1=-1.0f;
-    }
-    if(rc_ctrl.sw[7]>=900&&rc_ctrl.sw[7]<=1200)
-    {
-        and1=0.0f;
-    }
-    if(rc_ctrl.sw[7]>=1300&&rc_ctrl.sw[7]<=1500)
-    {
-        and1=1.0f;
-    }
 
-    // // 旋钮映射部分不变
+    // 旋钮映射部分不变
-    // const int knob_min = 200;
+    const int knob_min = 200;
-    // const int knob_max = 1800;
+    const int knob_max = 1800;
-    // const float map_min = 130.0f;
+    const float map_min = 130.0f;
-    // const float map_max = -60.0f;
+    const float map_max = -60.0f;
-    // int current_knob_value = rc_ctrl.sw[7];
+    int current_knob_value = rc_ctrl.sw[7];
-    // if (current_knob_value < knob_min)
+    if (current_knob_value < knob_min)
-    //     current_knob_value = knob_min;
+        current_knob_value = knob_min;
-    // if (current_knob_value > knob_max)
+    if (current_knob_value > knob_max)
-    //     current_knob_value = knob_max;
+        current_knob_value = knob_max;
-    // knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
+    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()
 {
 
@@ -273,14 +225,8 @@ void Shoot::shoot_control()
     switch (mode_key)
     {
     case VSION:
-        //fire_pos = distance; // 视觉拟合的力
+        fire_pos = distance; // 视觉拟合的力
-        if(distance<=3.1f)
+        // fire_pos =shoot_fitting(test_distance);
-        {
-            ws=-8.0f;
-        }
-         fire_pos =shoot_fitting(distance)+and1+ws;
-        //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
-
         switch (rc_key)
         {
         case DOWN1:
@@ -320,8 +266,8 @@ void Shoot::shoot_control()
         break;
     case PASS:
         // 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
+        fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
-        fire_pos =pass_fitting(6.9f);
+
         switch (rc_key)
         {
         case DOWN1:
@@ -365,7 +311,7 @@ void Shoot::shoot_control()
         break;
     }
 
-    abs_limit_min_max_fp(&go1.Pos, -210.0f, 8.0f);
+    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);
 
@@ -444,8 +390,6 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
-float and2=0;
-
 void Shoot::shoot_control()
 {
 
@@ -460,9 +404,7 @@ void Shoot::shoot_control()
         switch (mode_key)
         {
         case VSION:
-            fire_pos = shoot_fitting(distance)+and1; 
+            fire_pos = shoot_fitting(distance); // 视觉拟合的力
-            //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
-
             switch (rc_key)
             {
             case MIDDLE1:
@@ -478,8 +420,8 @@ void Shoot::shoot_control()
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         shoot_wait = 1;
-                        //BSP_Buzzer_Start();
+                        BSP_Buzzer_Start();
-                        //BSP_Buzzer_Set(1, 500);
+                        BSP_Buzzer_Set(1, 500);
                     }
                 }
 
@@ -492,7 +434,7 @@ void Shoot::shoot_control()
                     if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
 
-                        //BSP_Buzzer_Stop();
+                        BSP_Buzzer_Stop();
                         currentState = SHOOT_IDLE;
                         osThreadFlagsClear(EXTEND_OK);
                         osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -516,10 +458,11 @@ void Shoot::shoot_control()
             switch (rc_key)
             {
             case MIDDLE1:
-                fire_pos = shoot_fitting(distance)+and1;
+                fire_pos = pass_fitting(distance);
                 if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
                 {
-                    ball_receive(); 
+                    // 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)
                 {
@@ -530,8 +473,8 @@ void Shoot::shoot_control()
                     if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
                     {
                         shoot_wait = 1;
-                        // BSP_Buzzer_Start();
+                        BSP_Buzzer_Start();
-                        // BSP_Buzzer_Set(1, 500);
+                        BSP_Buzzer_Set(1, 500);
                     }
                 }
                 // 没收到READY_TELL不做任何蓄力
@@ -546,7 +489,7 @@ void Shoot::shoot_control()
                         if (feedback.fd_tpos >= Tigger_ZERO - 20)
                         {
 
-                            //BSP_Buzzer_Stop();
+                            BSP_Buzzer_Stop();
                             currentState = SHOOT_IDLE;
                             osThreadFlagsClear(EXTEND_OK);
                             osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -572,28 +515,10 @@ void Shoot::shoot_control()
     }
     else if (ready_key == DEFENSE)
     {
-
+        control_pos = TOP_POS - 2.0f; //-209
-        control_pos = WAIT_POS; //-209
         go1.Pos = control_pos;
         limit_speed = TO_TOP;   // 快速上去
-        if(feedback.fd_gopos < WAIT_POS +2.0f)
+        t_posSet = Tigger_ZERO; // 扳机松开
-        {
-           t_posSet = Tigger_ZERO; // 扳机松开
-           //osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
-
-            // 只在READY_TELL未置位时发送，防止重复
-            if ((osThreadFlagsGet() & DEF_READY) == 0)
-            {
-                osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
-            }
-
-        }
-        
-        osThreadFlagsClear(EXTEND_OK);
-        osThreadFlagsClear(READY_TELL); // 蓄力标志位
-        osThreadFlagsClear(HANDING_FINISH);
-        currentState = SHOOT_IDLE;
-
     }
     else
     {
@@ -608,7 +533,6 @@ void Shoot::shoot_control()
     trigger_control();
 }
 
-
 // 配合运球到发射
 void Shoot ::ball_receive()
 {
@@ -618,17 +542,11 @@ void Shoot ::ball_receive()
         // 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;
-            if(trigger_Motor->total_angle > Tigger_ZERO-5 )
-            {
-              control_pos = TOP_POS;
-              limit_speed = TO_TOP; // 快速上去
-         
-
-            }
             if (feedback.fd_gopos < -209)
             {
-                
                 currentState = GO_TOP; // 切换到准备发射状态
             }
         }
@@ -644,7 +562,7 @@ void Shoot ::ball_receive()
         break;
     case BAKC:
         control_pos = BOTTOM_POS;
-        limit_speed = 8.0f; // 慢速下来
+        limit_speed = TO_BOTTOM; // 慢速下来
         if (feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
         {
 
@@ -673,7 +591,7 @@ void Shoot::RemoveError()
         control_pos = INIT_POS;
         BSP_Buzzer_Stop();
     }
-    limit_speed = 5.0f; // 慢慢送上去
+    limit_speed = 3.0f; // 慢慢送上去
     go1.Pos = control_pos;
 }
 

User/module/shoot.hpp

@@ -87,7 +87,6 @@ public:
 
     //滤波器
     LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
-    LowPassFilter2p_t pass_filter;
 
     //==========================公共变量==========================
     int16_t rc_key; //遥控器按键
@@ -98,7 +97,6 @@ public:
 
     volatile uint32_t shoot_thread;//接收传回的线程通知
     fp32 distance;   //视觉距离
-    fp32 pass_distance;   //视觉距离
 
 private:
     //扳机2006

User/task/ballTask.cpp

@@ -8,7 +8,11 @@
 #include "vofa.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
+//float vofa[8];
 
+//检查光电
+int abc=0;
+int aaaa=146;
 
 extern int speedm;
 
@@ -18,7 +22,7 @@ void FunctionBall(void *argument)
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
 	
-	  osDelay(6000);//等待极致控制板启动
+	osDelay(6000);//等待极致控制板启动
     XiaomiWait_init(1,&hcan2); //小米电机初始化
     
     uint32_t tick = osKernelGetTickCount();
@@ -28,9 +32,16 @@ void FunctionBall(void *argument)
 #ifdef DEBUG
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
-      ball.rc_mode(); // 遥控器模式  
+
+    //abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+     abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
+
+     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    
+
+    // 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/encodeCan.cpp

@@ -26,7 +26,7 @@ void FunctionCan(void *argument)
      task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId()); 
     
   #endif 
-        //waitNewDji();
+        waitNewDji();
         djiMotorEncode();
         can2MotorEncode();
 

User/task/gimbalTask.cpp

@@ -0,0 +1,47 @@
+#include "TopDefine.h"
+#include "FreeRTOS.h"
+#include "userTask.h"
+#include <cmsis_os2.h>
+#include "gimbalTask.hpp"
+#include "gimbal.hpp"
+#include "main.h"
+#include "remote_control.h"
+#include "nuc.h"
+Gimbal gimbal;
+// NUC_t nucData; // 用于存储从队列接收的数据
+extern RC_ctrl_t rc_ctrl;
+int cnt1=0;
+
+void FunctionGimbal(void *argument)
+{
+	(void)argument; /* 未使用argument，消除警告 */
+
+    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
+	
+	HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
+
+	uint32_t tick = osKernelGetTickCount();
+
+	while(1)
+	{
+   #ifdef DEBUG
+		task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());  
+   #endif 
+
+		//cnt1++;
+
+    //  gimbal.gimbalFlow();
+		// 从消息队列接收视觉数据
+		// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
+		// {
+		// 	// 使用接收到的视觉数据调整云台
+		// 	//gimbal.gimbalVision(nucData);
+		// }
+			
+		osDelay(1);
+
+		tick += delay_tick; /* 计算下一个唤醒时刻 */
+        osDelayUntil(tick);
+	}
+}
+

User/task/gimbalTask.hpp

@@ -0,0 +1,5 @@
+#ifndef GIMBALTASK_HPP
+#define GIMBALTASK_HPP
+
+
+#endif

User/task/shootTask.cpp

@@ -10,7 +10,7 @@ extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
 NUC_t nucData; // 自瞄
 
-
+int aaaxxx=0;
 
 void FunctionShoot(void *argument)
 {
@@ -35,6 +35,13 @@ while(1)
 
 	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);		
 

User/task/userTask.h

@@ -14,7 +14,7 @@ extern "C" {
 
 /* 所有任务都要define一个“任务运行频率”和“初始化延时” */
 #define TASK_FREQ_SHOOT (500u)
-#define TASK_FREQ_CAN (500u)
+#define TASK_FREQ_CAN (1500u)
 #define TASK_FREQ_AI (500u)
 #define TASK_FREQ_BALL (500u)