全自动运球

位置更改
备赛场地有点不平，还没开测
2025-07-16 22:12:51 +08:00 · 2025-07-09 09:43:10 +08:00 · 2025-07-07 13:25:06 +08:00 · 2025-07-02 19:50:35 +08:00 · 2025-07-01 15:00:28 +08:00 · 2025-07-01 00:14:45 +08:00
23 changed files with 840 additions and 413 deletions
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@ -0,0 +1,20 @@
+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ],
+            "compilerPath": "D:\\mingw\\MinGW\\bin\\gcc.exe",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "windows-gcc-x64"
+        }
+    ],
+    "version": 4
+}
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@ -79,6 +79,9 @@ void Error_Handler(void);
 #define CLOSE_GPIO_Port GPIOE
 #define DOWN_Pin GPIO_PIN_11
 #define DOWN_GPIO_Port GPIOE
+#define TEST_Pin GPIO_PIN_12
+#define TEST_GPIO_Port GPIOB
+#define TEST_EXTI_IRQn EXTI15_10_IRQn

 /* USER CODE BEGIN Private defines */

--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@ -60,6 +60,7 @@ void EXTI9_5_IRQHandler(void);
 void TIM1_UP_TIM10_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART3_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -93,6 +93,12 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

+  /*Configure GPIO pin : TEST_Pin */
+  GPIO_InitStruct.Pin = TEST_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(TEST_GPIO_Port, &GPIO_InitStruct);
+
  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(EXTI0_IRQn);
@ -100,6 +106,9 @@ void MX_GPIO_Init(void)
  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
 }

 /* USER CODE BEGIN 2 */
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@ -292,6 +292,20 @@ void USART1_IRQHandler(void)
 //  /* USER CODE END USART3_IRQn 1 */
 //}

+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(TEST_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
 /**
  * @brief This function handles DMA2 stream1 global interrupt.
  */
--- a/MDK-ARM/.vscode/c_cpp_properties.json
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@ -3,26 +3,26 @@
        {
            "name": "R1",
            "includePath": [
-                "d:\\Desktop\\r1\\R1_up\\Core\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Include",
-                "d:\\Desktop\\r1\\R1_up\\User\\bsp",
-                "d:\\Desktop\\r1\\R1_up\\User\\module",
-                "d:\\Desktop\\r1\\R1_up\\User\\task",
-                "d:\\Desktop\\r1\\R1_up\\User\\lib",
-                "d:\\Desktop\\r1\\R1_up\\User\\device",
+                "d:\\Desktop\\运球赛\\R1_up\\Core\\Inc",
+                "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
+                "d:\\Desktop\\运球赛\\R1_up\\User\\bsp",
+                "d:\\Desktop\\运球赛\\R1_up\\User\\module",
+                "d:\\Desktop\\运球赛\\R1_up\\User\\task",
+                "d:\\Desktop\\运球赛\\R1_up\\User\\lib",
+                "d:\\Desktop\\运球赛\\R1_up\\User\\device",
                "D:\\keil\\ARM\\ARMCC\\include",
                "D:\\keil\\ARM\\ARMCC\\include\\rw",
-                "d:\\Desktop\\r1\\R1_up\\MDK-ARM",
-                "d:\\Desktop\\r1\\R1_up\\Core\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+                "d:\\Desktop\\运球赛\\R1_up\\MDK-ARM",
+                "d:\\Desktop\\运球赛\\R1_up\\Core\\Src",
+                "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
            ],
            "defines": [
                "USE_HAL_DRIVER",
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@ -74,3 +74,43 @@

 [info] Log at : 2025/6/25|19:23:57|GMT+0800

+[info] Log at : 2025/6/26|03:33:46|GMT+0800
+
+<<<<<<< HEAD
+[info] Log at : 2025/6/27|10:05:14|GMT+0800
+
+[info] Log at : 2025/6/27|23:24:18|GMT+0800
+
+[info] Log at : 2025/6/28|01:53:31|GMT+0800
+=======
+[info] Log at : 2025/6/26|15:46:24|GMT+0800
+>>>>>>> 7b54a46bd3c69e44a04ffd669bb7d3b115fc9e9b
+
+[info] Log at : 2025/6/30|23:46:31|GMT+0800
+
+[info] Log at : 2025/6/30|23:48:14|GMT+0800
+
+[info] Log at : 2025/6/30|23:49:51|GMT+0800
+
+[info] Log at : 2025/7/1|00:00:07|GMT+0800
+
+[info] Log at : 2025/7/1|14:59:17|GMT+0800
+
+[info] Log at : 2025/7/2|14:47:50|GMT+0800
+
+[info] Log at : 2025/7/2|19:49:16|GMT+0800
+
+[info] Log at : 2025/7/9|09:48:19|GMT+0800
+
+[info] Log at : 2025/7/9|09:49:07|GMT+0800
+
+[info] Log at : 2025/7/10|15:36:20|GMT+0800
+
+[info] Log at : 2025/7/11|18:17:38|GMT+0800
+
+[info] Log at : 2025/7/13|01:22:22|GMT+0800
+
+[info] Log at : 2025/7/13|01:27:09|GMT+0800
+
+[info] Log at : 2025/7/13|08:37:10|GMT+0800
+
--- a/MDK-ARM/.vscode/settings.json
+++ b/MDK-ARM/.vscode/settings.json
@ -5,6 +5,7 @@
        "buzzer.h": "c",
        "calc_lib.h": "c",
        "usertask.h": "c",
-        "detect.h": "c"
+        "detect.h": "c",
+        "nuc.h": "c"
    }
 }
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@ -1,10 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling shootTask.cpp...
-compiling shoot.cpp...
 compiling ball.cpp...
 linking...
-Program Size: Code=31644 RO-data=1832 RW-data=268 ZI-data=32252  
+Program Size: Code=29156 RO-data=1832 RW-data=300 ZI-data=32220  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:06
+Build Time Elapsed:  00:00:04
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@ -1 +1 @@
-2025/6/26 3:22:31
+2025/7/13 7:05:23
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@ -158,32 +158,37 @@
        <Ww>
          <count>0</count>
          <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl</ItemText>
+          <ItemText>ttttt1,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>1</count>
          <WinNumber>1</WinNumber>
-          <ItemText>shoot,0x0A</ItemText>
+          <ItemText>ball,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>1</WinNumber>
-          <ItemText>ball,0x0A</ItemText>
+          <ItemText>nucbuf</ItemText>
        </Ww>
        <Ww>
          <count>3</count>
          <WinNumber>1</WinNumber>
-          <ItemText>ball_exit,0x0A</ItemText>
+          <ItemText>runCount,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>4</count>
          <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>5</count>
          <WinNumber>1</WinNumber>
-          <ItemText>nuc_v</ItemText>
+          <ItemText>runCount,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball_task_active,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow4>
--- a/MDK-ARM/README.md
+++ b/MDK-ARM/README.md
@ -41,3 +41,5 @@ r1上层
  + 👇  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
+
+ 运球赛专属简单代码
--- a/R1.ioc
+++ b/R1.ioc
@ -153,20 +153,21 @@ Mcu.Pin22=PD14
 Mcu.Pin23=PA0-WKUP
 Mcu.Pin24=PE13
 Mcu.Pin25=PE11
-Mcu.Pin26=PA7
-Mcu.Pin27=VP_CRC_VS_CRC
-Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin29=VP_SYS_VS_Systick
+Mcu.Pin26=PB12
+Mcu.Pin27=PA7
+Mcu.Pin28=VP_CRC_VS_CRC
+Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
 Mcu.Pin3=PB3
-Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin31=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin4=PA14
 Mcu.Pin5=PA13
 Mcu.Pin6=PB7
 Mcu.Pin7=PB6
 Mcu.Pin8=PD0
 Mcu.Pin9=PC11
-Mcu.PinsNb=32
+Mcu.PinsNb=33
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@ -184,6 +185,7 @@ 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.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\: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
@ -218,6 +220,12 @@ PA7.Signal=SPI1_MOSI
 PA9.Locked=true
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
+PB12.GPIO_Label=TEST
+PB12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING
+PB12.GPIO_PuPd=GPIO_PULLDOWN
+PB12.Locked=true
+PB12.Signal=GPXTI12
 PB3.GPIOParameters=GPIO_PuPd
 PB3.GPIO_PuPd=GPIO_PULLUP
 PB3.Mode=Full_Duplex_Master
@ -369,6 +377,8 @@ RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 SH.GPXTI0.0=GPIO_EXTI0
 SH.GPXTI0.ConfNb=1
+SH.GPXTI12.0=GPIO_EXTI12
+SH.GPXTI12.ConfNb=1
 SH.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@ -16,7 +16,7 @@
 #endif


-#define ONE_CONTROL 1
+#define ONE_CONTROL 0



--- a/User/bsp/gpio_it.c
+++ b/User/bsp/gpio_it.c
@ -32,41 +32,41 @@ int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
  return BSP_OK;
 }

-int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
-  switch (pin) {
+// int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
+//   switch (pin) {

-    // case USER_KEY_Pin:
-    //   HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
-    //   break;
+//     case USER_KEY_Pin:
+//       HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
+//       break;

-      /*
-      case XXX_Pin:
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
-              break;
-      */
+//       /*
+//       case XXX_Pin:
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               break;
+//       */

-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
+//     default:
+//       return BSP_ERR;
+//   }
+//   return BSP_OK;
+// }

-int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
-  switch (pin) {
+// int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
+//   switch (pin) {

-    // case USER_KEY_Pin:
-    //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
-    //   break;
+//     // case USER_KEY_Pin:
+//     //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
+//     //   break;

-      /*
-      case XXX_Pin:
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
-              break;
-      */
+//       /*
+//       case XXX_Pin:
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               break;
+//       */

-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
+//     default:
+//       return BSP_ERR;
+//   }
+//   return BSP_OK;
+// }

--- a/User/device/detect.c
+++ b/User/device/detect.c
@ -3,6 +3,7 @@
 #include "bsp_delay.h"
 int key=0;
 int ball_exit=0;
+int test_exit=0;

 // 按键中断回调函数
 void detect_exit(void)
@ -15,24 +16,35 @@ void detect_exit(void)
 void detect_ball(void)
 {

-    ball_exit++; // 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(BALL_Pin); // 清除中断标志位
 }

+void detect_test(void)
+{
+    delay_ms(10); // 延时10ms
+    if(HAL_GPIO_ReadPin(TEST_GPIO_Port, TEST_Pin) == GPIO_PIN_RESET)
+    {
+      ball_exit++; 
+    }


+    __HAL_GPIO_EXTI_CLEAR_IT(TEST_Pin); // 清除中断标志位
+}
+
 void detect_init(void)
 {

    BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
    BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball);
+    BSP_GPIO_RegisterCallback(TEST_Pin, detect_test);

-    // 启用按键中断
-    if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) {
-        // 错误处理
-    }  
-    if (BSP_GPIO_EnableIRQ(BALL_Pin) != 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(BALL_Pin) != BSP_OK) {
+    //     // 错误处理
+    // }  
    
 }
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@ -4,25 +4,38 @@

 static osThreadId_t thread_alert;

-uint8_t nucbuf[32];
+volatile uint32_t drop_message = 0;
+
+uint8_t nucbuf[6];
 uint8_t packet[32]; // 假设最大数据包长度为 32 字节

-static void NUC_IdleCallback(void) {	
-	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
-
+static void NUC_CBLTCallback(void)
+{
+  osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
+}
+uint32_t error_code;
+static void NUC_ERRORCALLBACK(void)
+{
+   NUC_Restart();
+   error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
+ 
 }

-int8_t NUC_Init(NUC_t *nuc){
-    if(nuc == NULL) return DEVICE_ERR_NULL;
-    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
-   BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
-                            NUC_IdleCallback);
-	
-   return DEVICE_OK;
+int8_t NUC_Init(NUC_t *nuc)
+{
+  if (nuc == NULL) 
+    return DEVICE_ERR_NULL;
+  if ((thread_alert = osThreadGetId()) == NULL)
+    return DEVICE_ERR_NULL;
+  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
+                            NUC_CBLTCallback);
+  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_ERROR_CB,
+                            NUC_ERRORCALLBACK);
+  return DEVICE_OK;
 }

 int8_t NUC_StartReceiving(void) {
-  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
                           (uint8_t *)nucbuf,
                           sizeof(nucbuf)) == HAL_OK)
    return DEVICE_OK;
@ -37,7 +50,7 @@ int8_t NUC_Restart(void) {


 bool_t NUC_WaitDmaCplt(void) {
-  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
+  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
          SIGNAL_NUC_RAW_REDY);

 }
@ -68,7 +81,63 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {

  return DEVICE_OK; // 发送成功
 }
-int wzcsb=0;
+
+// 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 {
@ -80,47 +149,26 @@ 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
-             0x09
-               控制帧
-             0x01  相机帧
-             x    fp32
-             y    fp32
-             z    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];
+      if (nucbuf[5] != TAIL) goto error;
+
+      instance.data[3] = nucbuf[4];
+      instance.data[2] = nucbuf[3];
+      instance.data[1] = nucbuf[2];
+      instance.data[0] = nucbuf[1];
      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];
+      // instance.data[7] = nucbuf[16];
+      // instance.data[6] = nucbuf[15];
+      // instance.data[5] = nucbuf[14];
+      // instance.data[4] = nucbuf[13];
+      // 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:
-  wzcsb++;
+  drop_message++;
  return DEVICE_ERR;
 }

@ -198,3 +246,4 @@ int8_t NUC_HandleOffline(NUC_t *cmd)
 	 memset(cmd, 0, sizeof(*cmd));
 	return 0;
 }
+
--- a/User/device/nuc.h
+++ b/User/device/nuc.h
@ -8,6 +8,7 @@ extern "C" {
 #include "struct_typedef.h"
 #include "device.h"
 #include "uart_it.h"
+#include "main.h"

 // 帧头针尾
 #define HEAD (0xFF)
@ -15,7 +16,7 @@ extern "C" {

 #define ODOM (0x04)
 #define PICK (0x06)
-#define VISION (0x09)
+#define VISION (0x07)
 #define SEND (0X07)

 // 写结构体存入视觉信息
--- a/User/lib/calc_lib.c
+++ b/User/lib/calc_lib.c
@ -165,5 +165,6 @@ fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max)
        return Limit_min;
    }
  
+    return *num;
 }

--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@ -6,177 +6,335 @@
 #include "user_math.h"
 #include "shoot.hpp"

+NUC_t nuc_d;
+
+#define HANGDING_TWO 0 // 是否使用两次运球
+
 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
+// 伸缩
+//外死点89  外85 中75  内49  限位46 
+
+#define I_ANGLE 49
+#define O_ANGLE 85
+#define WAIT_POS 75
+#define HANGDING_POS 89
+
+uint8_t stop_flag[3] = {0XFF,0X01,0XFE};
+
+// PE11 气缸

 Ball ::Ball()
-{  
-   detect_init();
+{
+    detect_init();

-    //小米电机
-    feedback=get_CyberGear_point();
+    // 小米电机
+    feedback = get_CyberGear_point();

-    //小米电机初始化
-    xiaomi.position = I_ANGLE;    // 
-    xiaomi.speed    = 25;   // 
-    xiaomi.K_P      = 80;  // 位置增益
-    xiaomi.K_D      =20;    // 位置阻尼
-    xiaomi.K_C      = 12 ;  // 力矩
-    xiaomi.Pmax     =1; //好像没啥用
+    // 小米电机初始化
+    xiaomi.position = I_ANGLE; //
+    xiaomi.speed = 40;         //
+    xiaomi.K_P = 80;           // 位置增益
+    xiaomi.K_D = 20;           // 位置阻尼
+    xiaomi.K_C = 12;           // 力矩
+    xiaomi.Pmax = 1;           // 好像没啥用

    // //小米电机初始化
-    // xiaomi.position = 0;    // 
-    // xiaomi.speed    = 0;   // 
-    // xiaomi.K_P      = 0;  // 
-    // xiaomi.K_D      =0;    // 
-    // xiaomi.K_C      = 0 ;  
+    // xiaomi.position = 0;    //
+    // xiaomi.speed    = 0;   //
+    // xiaomi.K_P      = 0;  //
+    // xiaomi.K_D      =0;    //
+    // xiaomi.K_C      = 0 ;
    // xiaomi.Pmax     =0;

-    //状态机状态初始化
-    currentState1= BALL_IDLE;
-
+    // 状态机状态初始化
+    currentState1 = BALL_IDLE;
 }

-
-// 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
 //     sw[5] 👆 200 👇1800
-//左旋 sw[7] 200 --1800
+// H键 sw[6] 👆200 👇1800
+// 左旋 sw[7] 200 --1800
+
+int last_sw5 = 1800; // 上一次拨杆状态
+
 void Ball::rc_mode()
 {
-    if(rc_ctrl.sw[6]==200)
+    if (rc_ctrl.sw[6] == 200)
    {
-        rc_key=UP2;
+        rc_key = UP2;
    }
-     if(rc_ctrl.sw[6]==1000)
+    if (rc_ctrl.sw[6] == 1000)
    {
-        rc_key=MIDDLE2;
+        rc_key = MIDDLE2;
    }
-     if(rc_ctrl.sw[6]==1800)
+    if (rc_ctrl.sw[6] == 1800)
    {
-        rc_key=DOWN2;
+        rc_key = DOWN2;
    }

-    if(rc_ctrl.sw[5]==200)
+    if (rc_ctrl.sw[5] == 200)
    {
-      extern_key=IN;  
+        extern_key = IN;
    }
-    if(rc_ctrl.sw[5]==1800)
+    if (rc_ctrl.sw[5] == 1800)
    {
-      extern_key=OUT;  
+        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
-    }
+    // if (rc_ctrl.sw[5] == 200 && last_sw5 == 1800) // 只在1800->200的瞬间触发
+    // {
+    //     rc_key = DOWN2;
+    // }
+    // else
+    // {
+    //     rc_key = 0; // 其他情况不触发
+    // }
+    // last_sw5 = rc_ctrl.sw[5];
 }

 void Ball::Send_control()
 {
-  
-    CAN_XiaoMi(1,&xiaomi,&hcan2);
-    osDelay(1);

+    CAN_XiaoMi(1, &xiaomi, &hcan2);
+    osDelay(1);
 }

-#if ONE_CONTROL==0
+#if ONE_CONTROL == 0

 void Ball::ballDown(void)
 {

    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
    HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
-
 }

+
+
 void Ball::Move_Extend()
 {
-    if(extern_key==IN)
+    if (extern_key == IN)
    {
        xiaomi.position = I_ANGLE;
    }
-    if(extern_key==OUT)
+    if (extern_key == OUT)
    {
-        xiaomi.position = O_ANGLE;
+        xiaomi.position = HANGDING_POS;
+       
    }
 }

+int runCount = 0;
+int last_ball_state = 0;
+int step = 0;
+int ball_task_active = 0;
+int last_data = 0; // 新增
+
+void Ball::data_get(const NUC_t &nuc_d)
+{
+    data = nuc_d.vision.x;
+    // 只在data从0变为非0时激活流程（上升沿触发）
+    if (data != 0 && last_data == 0 && ball_task_active == 0) {
+        ball_task_active = 1;
+        runCount = 0; // 只在收到新指令时清零
+        currentState1 = BALL_FORWARD;
+    }
+    last_data = data;
+}
+
+#if HANGDING_TWO == 0
+
 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);
+
+    if (ball_task_active == 0) {
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+        currentState1 = BALL_IDLE;
+        return;
+    }
+
+    switch (currentState1)
+    {
+    case BALL_FORWARD:
+        osDelay(500);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
+        osDelay(5);
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);
+        currentState1 = BALL_DROP;
+        break;
+
+    case BALL_DROP:
+        osDelay(100);
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+        if (ball_state == 1 && last_ball_state == 0) {
+            currentState1 = BALL_FLAG;
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_FLAG:
+        osDelay(10);
+        if (ball_state == 0 && last_ball_state == 1) {
+            currentState1 = BALL_CLOSE;
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_CLOSE:
+        osDelay(100);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+        currentState1 = BALL_FINISH;
+        break;
+
+    case BALL_FINISH:
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+        runCount++;
+        if (runCount < 2) {
+            currentState1 = BALL_FORWARD;
+        } else {
+            // 运完两次，流程结束
+            ball_task_active = 0;
+            data = 0;
+            HAL_UART_Transmit(&huart6, stop_flag, 3, 10);
+            osDelay(500);
+            // runCount 不要在这里清零
+            currentState1 = BALL_IDLE;
+        }
+        break;
+
+    default:
+        currentState1 = BALL_IDLE;
+        break;
+    }
+}
+
+// int runCount = 0;        // 运球次数计数
+// int last_ball_state = 0; // 上一次的光电状态
+// int step = 0;            // 0:持球 1:击球 2:反弹 3:完全离开
+// int ball_task_active = 0; // 运球流程激活标志
+// int ifyun=0;
+
+// void Ball::data_get(const NUC_t &nuc_d)
+// {
+//     data = nuc_d.vision.x;
+//     // 收到上位机新指令且未在运球流程中，激活流程
+//     if (data !=0 && ball_task_active == 0) {
+//         ball_task_active = 1;
+//         runCount = 0;
+//         ifyun=0;
+//         currentState1 = BALL_FORWARD;
+//     }
+// }
+
+// #if HANGDING_TWO == 0
+
+// void Ball::ball_control()
+// {
+//     ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+    
+//     if (ball_task_active == 0) {
+//         // 未激活流程，保持空闲
+//         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+//         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+//         currentState1 = BALL_IDLE;
+//         return;
+//     }
+// if(ifyun==0){
+//     switch (currentState1)
+//     {
+//     case BALL_FORWARD:
+//         osDelay(100);
+//         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
+//         osDelay(5);
+//         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);
+//         currentState1 = BALL_DROP;
+//         break;
+
+//     case BALL_DROP:
+//         osDelay(100);
+//         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+//         if (ball_state == 1 && last_ball_state == 0) {
+//             currentState1 = BALL_FLAG;
+//         }
+//         last_ball_state = ball_state;
+//         break;
+
+//     case BALL_FLAG:
+//         osDelay(10);
+//         if (ball_state == 0 && last_ball_state == 1) {
+//             currentState1 = BALL_CLOSE;
+//         }
+//         last_ball_state = ball_state;
+//         break;
+
+//     case BALL_CLOSE:
+//         osDelay(100);
+//         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+//         currentState1 = BALL_FINISH;
+//         break;
+
+//     case BALL_FINISH:
+//         //osDelay(200);
+//         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+//         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+//         runCount++;
+//         if (runCount < 2) {
+//             currentState1 = BALL_FORWARD;
+            
+//         } else {
+//             // 运完两次，流程结束
+//             ball_task_active = 0;
+//             data = 0;
+//             // 通过串口发送stop_flag数组给上位机，通知停止
+//             HAL_UART_Transmit(&huart6, stop_flag, 3, 10);
+//                 ifyun=1;
+//             currentState1 = BALL_IDLE;
+//         }
+//         break;
+
+//     default:
+//         currentState1 = BALL_IDLE;
+//         break;
+//     }
+
+// }
+// }
+#else
+
+void Ball::ball_control()
+{
+    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();

-    switch (rc_key){
-        case MIDDLE2:
-       HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); //确保爪气缸关闭 
-       HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭   
-        if (currentState1 == BALL_FINISH)
-        {
-            currentState1 = BALL_IDLE;
-        }
-        else {
-             currentState1 = BALL_IDLE; // 默认回到空闲状态
-        }
-        break;
-
-       case UP2: 
-        ballDown();
-        break;
-
-        case DOWN2: 
-        ballHadling();
-        //test_Handling();
-
-        break;
-
-    }
-
-    Send_control(); 
-
-}
-
-
- int ball_state = 0;
- int last_ball_state = 0; // 上一次的光电状态
-
-void Ball::ballHadling(void)
-{
-  
    switch (currentState1)
    {
    case BALL_IDLE:
-       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
+        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
        {
-          
-         
-            currentState1 = BALL_FORWARD; 
+            runCount = 0; // 每次拨动重新计数
+            currentState1 = BALL_FORWARD;
        }
        break;

    case BALL_FORWARD:
        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
-        osDelay(5); 
+        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
+        currentState1 = BALL_DROP;                                 // 切换到球下落状态
        break;

-        case BALL_DROP:
-        osDelay(100); // 延时 100ms
+    case BALL_DROP:
+        osDelay(100);                                                // 延时 100ms
        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
        // 一直检测有球（ball_state == 0），等球离开
        if (ball_state == 1 && last_ball_state == 0) // 球离开
@ -186,7 +344,7 @@ void Ball::ballHadling(void)
        last_ball_state = ball_state;
        break;

-        case BALL_FLAG:
+    case BALL_FLAG:
        osDelay(10); // 延时 50ms
        // 等待球弹回再次检测到球
        if (ball_state == 0 && last_ball_state == 1) // 球弹回
@ -197,19 +355,26 @@ void Ball::ballHadling(void)
        break;

    case BALL_CLOSE:
-
-            osDelay(25); 
-            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
-            currentState1 = BALL_FINISH; // 切换到反转状态
+        osDelay(100);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH;                                   // 切换到反转状态
        break;

    case BALL_FINISH:
-        osDelay(50); // 延时 50ms
+        osDelay(200);                                                  // 延时 50ms
        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
-
-        //currentState1 = BALL_IDLE; // 回到空闲状态
-
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
+        runCount++;
+        osDelay(200); // 延时 50ms
+        if (runCount < 2)
+        {
+            currentState1 = BALL_FORWARD; // 继续下一次运球
+            osDelay(50);
+        }
+        else
+        {
+            currentState1 = BALL_IDLE; // 完成两次，回到空闲
+        }
        break;

    default:
@ -217,167 +382,196 @@ void Ball::ballHadling(void)
        break;
    }

-    
- }   
-
-
+    Send_control();
+}

 #endif

-#if ONE_CONTROL
-
-void Ball::ball_control()
+void Ball::Close(void)
 {
-    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)
-
-    //进攻
-    if(ready_key==SIDE)
-    {
-            switch (rc_key){
-        case MIDDLE2:
-         Idle_control();
-        break;
-
-       case UP2: 
-        ballDown();
-        break;
-
-       case DOWN2: 
-         ballHadling();
-        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(); 
-
+    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
+    currentState1 = BALL_IDLE;                                     // 回到空闲状态
 }

-
-//任务通知来作全过程
-
-void Ball::ballDown(void)
+void Ball::Hadling(void)
 {
-    switch(currentState1)
-    {
-        case BALL_IDLE:
-            xiaomi.position = I_ANGLE; // 保持收回
-            if(feedback->position_deg >= I_ANGLE-0.8 && feedback->position_deg <= I_ANGLE+0.8)
-            {
-                currentState1 = EXTEND_DOWN;
-            }
-            break;
-
-        case EXTEND_DOWN:
-            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 == 1)
-            {
-                currentState1 = EXTEND_OUT;
-            }
-            break;
-
-        case EXTEND_OUT:
-            xiaomi.position = O_ANGLE; // 保持伸出
-            if(feedback->position_deg >= O_ANGLE-0.2 && feedback->position_deg <= O_ANGLE+0.2)
-            {
-                osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
-                currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
-            }
-            break;
-
-        case EXTEND_FINISH:
-            xiaomi.position = O_ANGLE; // 一直保持伸出
-            // 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
-            break;
-
-        default:
-            currentState1 = BALL_IDLE;
-            break;
-    }
-}
-
-void Ball::Idle_control()
-{
-    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭 
-    HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 
-
-    
-    osThreadFlagsClear(EXTEND_OK);
-
-    if(ready_key==SIDE) // 检测是否准备好
-    {
-        xiaomi.position = WAIT_POS; 
-        if(feedback->position_deg >= WAIT_POS-3)
-        {
-          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
-    {
-         xiaomi.position = I_ANGLE; 
-         currentState1 = BALL_IDLE;
-    }
-    if(currentState1==BALL_FINISH)//运球完成
-    {
-        xiaomi.position = O_ANGLE; 
-         currentState1 = BALL_IDLE;
-    }
-    else
-    {
-       currentState1 = BALL_IDLE;  
-    }
-    //xiaomi.position = I_ANGLE;
-   
-}
-
- int ball_state = 0;
- int last_ball_state = 0; // 上一次的光电状态
-
-void Ball::ballHadling(void)
-{
-  
    switch (currentState1)
    {
    case BALL_IDLE:
+        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)
-        {   
-            xiaomi.position = O_ANGLE;//外伸       
-            if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
-            {
-                 currentState1 = BALL_FORWARD; 
-            }
-           
+        {
+            ball_exit = 0; // 进入流程时清零
+            currentState1 = BALL_FORWARD;
        }
        break;

    case BALL_FORWARD:
        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
-        osDelay(5); 
+        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
+        currentState1 = BALL_DROP;                                 // 切换到球下落状态
        break;

-        case BALL_DROP:
-        osDelay(100); // 延时 100ms
+    case BALL_DROP:
+        osDelay(100);                                                // 延时 100ms
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
+        // 只响应第一次边沿
+        if (ball_exit == 1)
+        {
+            currentState1 = BALL_FLAG;
+        }
+        break;
+    }
+}
+
+void Ball::exit_Handling(void)
+{
+    switch (currentState1)
+    {
+    case BALL_IDLE:
+        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)
+        {
+            ball_exit = 0; // 进入流程时清零
+            currentState1 = BALL_FORWARD;
+        }
+        break;
+
+    case BALL_FORWARD:
+        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
+        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
+        // 只响应第一次边沿
+        if (ball_exit == 1)
+        {
+            currentState1 = BALL_FLAG;
+        }
+        break;
+
+    case BALL_FLAG:
+        // osDelay(10); // 延时 10ms
+        //  只响应第二次边沿
+        if (ball_exit == 3)
+        {
+            currentState1 = BALL_CLOSE;
+        }
+        break;
+
+    case BALL_CLOSE:
+        osDelay(25);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH;                                   // 切换到反转状态
+        break;
+
+    case BALL_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
+        ball_exit = 0;                                                 // 流程完成后清零
+        break;
+
+    default:
+        currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;
+    }
+}
+
+void Ball::test_up(void)
+{
+
+    switch (currentState1)
+    {
+    case BALL_IDLE:
+        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
+        {
+            step = 0;
+            currentState1 = BALL_FORWARD;
+        }
+        break;
+
+    case BALL_FORWARD:
+        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
+        break;
+
+    case BALL_DROP:
+        osDelay(50);                                                 // 延时 100ms
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
+
+        // 步骤0：等待球离开（持球->无球）
+        if (step == 0 && ball_state == 1 && last_ball_state == 0)
+        {
+            step = 1;
+        }
+        // 步骤1：等待球反弹回来（无球->持球）
+        else if (step == 1 && ball_state == 0 && last_ball_state == 1)
+        {
+            step = 2;
+        }
+        // 步骤2：等待球完全上升离开（持球->无球）
+        else if (step == 2 && ball_state == 1 && last_ball_state == 0)
+        {
+            step = 3;
+            currentState1 = BALL_CLOSE; // 进入闭合气缸
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_CLOSE:
+        // osDelay(25);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH;                                   // 切换到完成状态
+        break;
+
+    case BALL_FINISH:
+        osDelay(50);                                                   // 延时 50ms
+        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
+        // currentState1 = BALL_IDLE; // 可选：回到空闲状态
+        break;
+
+    default:
+        currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;
+    }
+}
+
+void Ball::ballHadling(void)
+{
+
+    switch (currentState1)
+    {
+    case BALL_IDLE:
+        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
+        {
+            currentState1 = BALL_FORWARD;
+        }
+        break;
+
+    case BALL_FORWARD:
+        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
+        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
        // 一直检测有球（ball_state == 0），等球离开
        if (ball_state == 1 && last_ball_state == 0) // 球离开
@ -387,7 +581,7 @@ void Ball::ballHadling(void)
        last_ball_state = ball_state;
        break;

-        case BALL_FLAG:
+    case BALL_FLAG:
        osDelay(10); // 延时 50ms
        // 等待球弹回再次检测到球
        if (ball_state == 0 && last_ball_state == 1) // 球弹回
@ -398,27 +592,91 @@ void Ball::ballHadling(void)
        break;

    case BALL_CLOSE:
-
-            osDelay(25); 
-            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
-            currentState1 = BALL_FINISH; // 切换到反转状态
+        osDelay(100);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH;                                   // 切换到反转状态
        break;

    case BALL_FINISH:
-        osDelay(50); // 延时 50ms
-        //osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH); 
+        osDelay(50);                                                   // 延时 50ms
        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
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
+
+        // currentState1 = BALL_IDLE; // 回到空闲状态
+
        break;

    default:
        currentState1 = BALL_IDLE; // 默认回到空闲状态
        break;
    }
+}

-    
- }   
+void Ball::ballHadling_two(void)
+{
+    switch (currentState1)
+    {
+    case BALL_IDLE:
+        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)
+        {
+            runCount = 0; // 每次拨动重新计数
+            currentState1 = BALL_FORWARD;
+        }
+        break;
+
+    case BALL_FORWARD:
+        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;
+        break;
+
+    case BALL_DROP:
+        osDelay(100);
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
+        if (ball_state == 1 && last_ball_state == 0)                 // 球离开
+        {
+            currentState1 = BALL_FLAG;
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_FLAG:
+        osDelay(10);
+        if (ball_state == 0 && last_ball_state == 1) // 球弹回
+        {
+            currentState1 = BALL_CLOSE;
+        }
+        last_ball_state = ball_state;
+        break;
+
+    case BALL_CLOSE:
+        osDelay(25);
+        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
+        currentState1 = BALL_FINISH;
+        break;
+
+    case BALL_FINISH:
+        osDelay(50);
+        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
+        runCount++;
+        if (runCount < 2)
+        {
+            currentState1 = BALL_FORWARD; // 继续下一次运球
+        }
+        else
+        {
+            currentState1 = BALL_IDLE; // 完成两次，回到空闲
+        }
+        break;
+
+    default:
+        currentState1 = BALL_IDLE;
+        break;
+    }
+}

- 
 #endif
-
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@ -10,7 +10,7 @@
 #include "pid.h"
 #include "filter.h"
 #include "calc_lib.h"
-
+#include "nuc.h"


 // 定义状态枚举
@ -55,12 +55,18 @@ public:
    void Move_Extend(void);
    void Idle_control(void);
    void rc_mode(void);
-    void test_Handling(void);
+    void ballHadling_two(void);
    void ball_control(void);
+    void exit_Handling(void);
+    void Hadling(void);
+    void Close(void);
+    void test_up(void);
+    void data_get(const NUC_t &nuc_d);
  
    BallState_t currentState1; // 运球任务状态机
      int flag_thread;//暂时还没用到
 	  int ball_state ;//光电检测
+      float data;
    

    //小米电机伸缩
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@ -6,14 +6,14 @@
 #include "ball.hpp"
 #include "remote_control.h"
 #include "vofa.h"
+#include "nuc.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
-//float vofa[8];
+NUC_t Data; 

 //检查光电
 int abc=0;
-int aaaa=146;
-
+//3   👆1800 中1000 👇200
 extern int speedm;

 void FunctionBall(void *argument)
@ -36,15 +36,19 @@ void FunctionBall(void *argument)
    abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);

     ball.rc_mode(); // 遥控器模式  
+
    
-     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);
+     	if (osMessageQueueGet(task_struct.msgq.nuc, &Data, NULL, 0) == osOK)
+      {
+          ball.data_get(Data);
+      }
+     
+       ball.Move_Extend();
+       ball.ball_control(); // 控制球的动作   
+      
+      ball.Send_control();

+     
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    osDelayUntil(tick);
    
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@ -28,20 +28,13 @@ while(1)

 	shoot.rc_mode(); //遥控器模式
 	
-	if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
-	{
-		shoot.distanceGet(nucData);
-	}
+	// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
+	// {
+	// 	shoot.distanceGet(nucData);
+	// }

-	shoot.shoot_control();
+	// 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);
Author	SHA1	Message	Date
ws	464544450b	全自动运球	2025-07-16 22:12:51 +08:00
ws	cbbbc1a0cc	位置更改	2025-07-09 09:43:10 +08:00
ws	873f653116	备赛场地有点不平，还没开测	2025-07-07 13:25:06 +08:00
ws	9bfe4580f8	微调伸缩位置	2025-07-02 19:50:35 +08:00
ws	7e2fb5370a	单拨两次运球但会出小失误	2025-07-01 15:00:28 +08:00
ws	4de285abfb	ok去试试一键运两次球	2025-07-01 00:14:45 +08:00
ws	512c223748	更新？	2025-06-30 23:55:15 +08:00
ws	94eadcfa16	拨杆+码盘	2025-06-30 23:36:01 +08:00
ws	960778a7fb	运球赛回弹拨杆码盘跑点	2025-06-30 23:29:54 +08:00
ws	0abece2ee1	回弹式拨杆	2025-06-28 02:22:44 +08:00
ws	117acf4142	运球赛	2025-06-28 01:54:37 +08:00
ws	7b54a46bd3	回弹按键运两次球	2025-06-26 15:49:00 +08:00