87 lines
1.6 KiB
C++
87 lines
1.6 KiB
C++
#ifndef BALL_HPP
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#define BALL_HPP
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#include "main.h"
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#include "TopDefine.h"
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#include "cmsis_os.h"
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#include "FreeRTOS.h"
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#include <cmsis_os2.h>
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#include "bsp_delay.h"
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#include "djiMotor.h"
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#include "pid.h"
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#include "filter.h"
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#include "calc_lib.h"
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// 定义状态枚举
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typedef enum {
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BALL_IDLE, // 空闲状态
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BALL_FORWARD, //
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BALL_DROP, //
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BALL_FLAG,
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BALL_CLOSE, // 关闭状态
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BALL_FINISH, // 完成状态
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//持球状态
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BALL_TAKE,
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EXTEND_DOWN,
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EXTEND_OUT,
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EXTEND_FINISH,
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BALL_LOSE,
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} BallState_t;
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typedef enum
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{
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UP2=1,
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MIDDLE2,
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DOWN2,
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IN,
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OUT,
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SIDE,
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DEF
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}ball_rc_mode;
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// 定义光电传感器检测宏
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#define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)
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class Ball
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{
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public:
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Ball();
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void ballHadling(void);
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void ballDown(void);
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void Send_control(void);
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void Move_Extend(void);
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void Idle_control(void);
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void rc_mode(void);
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void test_Handling(void);
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void ball_control(void);
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BallState_t currentState1; // 运球任务状态机
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int flag_thread;//暂时还没用到
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int ball_state ;//光电检测
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//小米电机伸缩
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MotorFeedback_t *feedback;
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JZ_xiaomi_t xiaomi;
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//==========================公共变量==========================//
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int16_t rc_key; //遥控器按键
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int16_t extern_key;
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int16_t ready_key; //准备按键
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//用于传接球,运球后通知
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volatile BallState_t ballStatus;//是否有球
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volatile uint32_t hand_thread;//接收传回的线程通知
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private:
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};
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#endif
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