496 lines
13 KiB
C++
496 lines
13 KiB
C++
#include "ball.hpp"
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#include "bsp_delay.h"
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#include "remote_control.h"
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#include "detect.h"
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#include "userTask.h"
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#include "user_math.h"
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#include "shoot.hpp"
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extern RC_ctrl_t rc_ctrl;
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extern int ball_exit;
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// 外死点168 外163 中150 内127 限位124.8
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// 伸缩
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//外死点89 外85 中75 内49 限位46
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#define I_ANGLE 49
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#define O_ANGLE 85
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#define WAIT_POS 75
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#define HANGDING_POS 89
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// PE11 气缸git stash apply
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Ball ::Ball()
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{
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// 小米电机
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feedback = get_CyberGear_point();
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// 小米电机初始化
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xiaomi.position = I_ANGLE; //
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xiaomi.speed = 35; //
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xiaomi.K_P = 40; // 位置增益
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xiaomi.K_D = 100; // 位置阻尼
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xiaomi.K_C = 12; // 力矩
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xiaomi.Pmax = 1; // 好像没啥用
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// //小米电机初始化
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// xiaomi.position = 0; //
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// xiaomi.speed = 0; //
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// xiaomi.K_P = 0; //
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// xiaomi.K_D =0; //
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// xiaomi.K_C = 0 ;
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// xiaomi.Pmax =0;
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// 状态机状态初始化
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currentState1 = BALL_IDLE;
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}
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// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
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// G键 sw[6]👆 200 中 1000 👇1800
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// sw[5] 👆 200 👇1800
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// 左旋 sw[7] 200 --1800
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void Ball::rc_mode()
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{
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if (rc_ctrl.sw[6] == 200)
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{
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rc_key = UP2;
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}
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if (rc_ctrl.sw[6] == 1000)
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{
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rc_key = MIDDLE2;
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}
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if (rc_ctrl.sw[6] == 1800)
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{
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rc_key = DOWN2;
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}
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if (rc_ctrl.sw[5] == 200)
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{
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extern_key = IN;
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}
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if (rc_ctrl.sw[5] == 1800)
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{
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extern_key = OUT;
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}
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if (rc_ctrl.sw[5] == 1800)
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{
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ready_key = SIDE;
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}
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if (rc_ctrl.sw[5] == 200)
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{
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ready_key = DEF; // 默认不准备
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}
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}
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void Ball::Send_control()
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{
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CAN_XiaoMi(1, &xiaomi, &hcan2);
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osDelay(1);
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}
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#if ONE_CONTROL == 0
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void Ball::ballDown(void)
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{
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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}
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void Ball::Move_Extend()
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{
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if (extern_key == IN)
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{
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xiaomi.position = I_ANGLE;
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}
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if (extern_key == OUT)
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{
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xiaomi.position = HANGDING_POS;
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}
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}
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void Ball::ball_control()
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{
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ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
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Move_Extend();
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switch (rc_key)
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{
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case MIDDLE2:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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if (currentState1 == BALL_FINISH)
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{
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currentState1 = BALL_IDLE;
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}
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else
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{
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currentState1 = BALL_IDLE; // 默认回到空闲状态
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}
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break;
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case UP2:
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ballDown();
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break;
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case DOWN2:
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ballHadling();
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break;
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}
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Send_control();
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}
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int ball_state = 0;
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int last_ball_state = 0; // 上一次的光电状态
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void Ball::ballHadling(void)
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{
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switch (currentState1)
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{
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case BALL_IDLE:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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if (rc_key == DOWN2) // 检测按键是否被按下
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{
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currentState1 = BALL_FORWARD;
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}
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break;
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case BALL_FORWARD:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
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osDelay(5);
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
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currentState1 = BALL_DROP; // 切换到球下落状态
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break;
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case BALL_DROP:
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osDelay(100); // 延时 100ms
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
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// 一直检测有球（ball_state == 0），等球离开
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if (ball_state == 1 && last_ball_state == 0) // 球离开
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{
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currentState1 = BALL_FLAG;
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}
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last_ball_state = ball_state;
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break;
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case BALL_FLAG:
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osDelay(10); // 延时 50ms
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// 等待球弹回再次检测到球
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if (ball_state == 0 && last_ball_state == 1) // 球弹回
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{
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currentState1 = BALL_CLOSE;
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}
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last_ball_state = ball_state;
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break;
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case BALL_CLOSE:
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osDelay(100);
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
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currentState1 = BALL_FINISH; // 切换到反转状态
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break;
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case BALL_FINISH:
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osDelay(50); // 延时 50ms
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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// currentState1 = BALL_IDLE; // 回到空闲状态
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break;
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default:
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currentState1 = BALL_IDLE; // 默认回到空闲状态
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break;
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}
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}
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#endif
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#if ONE_CONTROL
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void Ball::ball_control()
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{
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hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
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ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
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// 进攻
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if (ready_key == SIDE)
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{
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osThreadFlagsClear(DEF_READY);
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switch (rc_key)
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{
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case MIDDLE2:
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Idle_control();
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break;
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case UP2:
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ballDown();
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break;
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case DOWN2:
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ballHadling();
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break;
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}
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Send_control();
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}
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// 防守
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else if(ready_key == DEF)
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{
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if(hand_thread & DEF_READY)
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{
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xiaomi.position = I_ANGLE;
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}
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// 保持收回
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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osThreadFlagsClear(EXTEND_OK);
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osThreadFlagsClear(READY_TELL); // 蓄力标志位
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osThreadFlagsClear(HANDING_FINISH);
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haveball=0;//变为空球状态
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currentState1 = BALL_IDLE;
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Send_control();
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}
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}
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// 任务通知来作全过程
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void Ball::ballDown(void)
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{
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osThreadFlagsClear(HANDING_FINISH);
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switch (currentState1)
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{
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case BALL_IDLE:
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xiaomi.position = I_ANGLE; // 保持收回
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if (feedback->position_deg >= I_ANGLE - 1 && feedback->position_deg <= I_ANGLE + 1)
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{
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currentState1 = EXTEND_DOWN;
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}
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break;
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case EXTEND_DOWN:
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osDelay(500); // 不放太快
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
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// 检测到球自由下落一次就切换状态
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if (ball_state == 1)
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{
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currentState1 = EXTEND_OUT;
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}
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break;
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case EXTEND_OUT:
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xiaomi.position = O_ANGLE; // 保持伸出
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if (feedback->position_deg >= O_ANGLE - 1 && feedback->position_deg <= O_ANGLE + 1)
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{
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osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
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currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
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}
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break;
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case EXTEND_FINISH:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
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xiaomi.position = O_ANGLE; // 一直保持伸出
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// 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
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break;
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default:
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currentState1 = BALL_IDLE;
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break;
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}
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}
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// void Ball::Idle_control()
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// {
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// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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// osThreadFlagsClear(EXTEND_OK);
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// if (ready_key == SIDE) // 检测是否准备好
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// {
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// xiaomi.position = WAIT_POS;
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// if (feedback->position_deg >= WAIT_POS - 3)
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// {
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// // 只在READY_TELL未置位时发送，防止重复
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// if ((osThreadFlagsGet() & READY_TELL) == 0)
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// {
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// osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
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// }
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// }
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// }
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// else
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// {
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// xiaomi.position = I_ANGLE; // 默认回到收回位置
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// }
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// // 拨杆回到中间挡位时，回位并重置状态机
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// if (currentState1 == EXTEND_FINISH) // 转移后
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// {
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// xiaomi.position = I_ANGLE;
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// currentState1 = BALL_IDLE;
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// }
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// if (currentState1 == BALL_FINISH) // 运球完成
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// {
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// xiaomi.position = O_ANGLE;
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// currentState1 = BALL_IDLE;
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// }
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// else
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// {
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// currentState1 = BALL_IDLE;
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// }
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// // xiaomi.position = I_ANGLE;
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// }
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void Ball::Idle_control()
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{
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if(ball_state==1 && haveball==0)// 读取光电状态(有球 0，无球 1)
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{
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸张开
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}
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if(ball_state==0)
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{
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haveball=1;//变为持球状态
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osDelay(500);
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸闭合
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}
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// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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osThreadFlagsClear(EXTEND_OK);
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if (ready_key == SIDE) // 检测是否准备好
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{
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if(hand_thread & HANDING_FINISH)
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{
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xiaomi.position=HANGDING_POS;//继续保持外伸
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}
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else
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{
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xiaomi.position = WAIT_POS;
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if (feedback->position_deg >= WAIT_POS - 3)
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{
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// 只在READY_TELL未置位时发送，防止重复
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if ((osThreadFlagsGet() & READY_TELL) == 0)
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{
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osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
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}
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}
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}
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}
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else
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{
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xiaomi.position = I_ANGLE; // 默认回到收回位置
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}
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// 拨杆回到中间挡位时，回位并重置状态机
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if (currentState1 == EXTEND_FINISH) // 转移后
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{
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xiaomi.position = I_ANGLE;
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currentState1 = BALL_IDLE;
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}
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if (currentState1 == BALL_FINISH) // 运球完成
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{
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xiaomi.position = O_ANGLE;
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currentState1 = BALL_IDLE;
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}
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else
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{
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currentState1 = BALL_IDLE;
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}
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}
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int ball_state = 0;
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int last_ball_state = 0; // 上一次的光电状态
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void Ball::ballHadling(void)
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{
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switch (currentState1)
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{
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case BALL_IDLE:
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if (rc_key == DOWN2)
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{
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xiaomi.position = HANGDING_POS; // 外伸
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if (feedback->position_deg >= HANGDING_POS - 0.5f) // 确保伸缩电机到位
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{
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currentState1 = BALL_FORWARD;
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}
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}
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break;
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case BALL_FORWARD:
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osDelay(300); // 不放太快
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
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osDelay(5);
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
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currentState1 = BALL_DROP; // 切换到球下落状态
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break;
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case BALL_DROP:
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osDelay(100); //不要动这里
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
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// 一直检测有球（ball_state == 0），等球离开
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if (ball_state == 1 && last_ball_state == 0) // 球离开
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{
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currentState1 = BALL_FLAG;
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}
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last_ball_state = ball_state;
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break;
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case BALL_FLAG:
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osDelay(10); // 延时 50ms
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// 等待球弹回再次检测到球
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if (ball_state == 0 && last_ball_state == 1) // 球弹回
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{
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currentState1 = BALL_CLOSE;
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}
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last_ball_state = ball_state;
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break;
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case BALL_CLOSE:
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osDelay(100);
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
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currentState1 = BALL_FINISH; // 切换到反转状态
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break;
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case BALL_FINISH:
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osDelay(50); // 延时 50ms
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osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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break;
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default:
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currentState1 = BALL_IDLE; // 默认回到空闲状态
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break;
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}
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}
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#endif
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