113 lines
2.4 KiB
C++
113 lines
2.4 KiB
C++
#ifndef SHOOT_HPP
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#define SHOOT_HPP
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#include "djiMotor.h"
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#include "pid.h"
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#include "GO_M8010_6_Driver.h"
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#include "nuc.h"
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#include "usart.h"
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#include "filter.h"
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// 定义状态枚举
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typedef enum {
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SHOOT_IDLE, // 空闲状态
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SHOOT_TOP, // 顶部状态
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SHOOT_TENSION, // 拉回到设定
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SHOOT_READY,
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SHOOT_WAIT,
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SHOOT_FIRE, // 发射状态
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SHOOT_RETURN, // 自动返回状态
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//运射配合
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GO_TOP,
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BAKC
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} ShootState_t;
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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_FINISH, // 完成状态
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// //持球状态
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// BALL_TAKE,
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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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UP1=1,
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MIDDLE1,
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DOWN1,
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SHOOT,
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WAIT,
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TEST,
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VSION
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}rc_mode;
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// 光电传感器读取宏
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#define IS_PHOTOELECTRIC_TRIGGERED() (HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin) == GPIO_PIN_RESET)
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class Shoot
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{
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public:
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Shoot();
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void rc_mode();
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void trigger_control(void);
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void distanceGet(const NUC_t &nuc);
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void shoot_control(void);
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void shoot_Current(void);
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void RemoveError(void);
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void ball_receive(void);
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int GO_SendData(float pos,float limit);
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//go电机
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GO_MotorCmd_t go1;
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GO_MotorData_t *go1_data;//存放go电机数据
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float control_pos; //控制位置
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float fire_pos; //发射位置
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struct feedback
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{
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float fd_gopos;
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float fd_tpos;
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}feedback;
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//扳机
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float speed_trigger;
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int16_t result;
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float t_speedSet;
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float t_posSet;//扳机位置
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float fd_tpos; //扳机反馈位置
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motor_measure_t *trigger_Motor;
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//滤波器
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LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
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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 mode_key;
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int16_t trigger_key;
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ShootState_t currentState; //状态机
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volatile uint32_t shoot_thread;//接收传回的线程通知
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fp32 distance; //视觉距离
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private:
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//扳机2006
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static const float M2006_speed_PID[3];
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static const float M2006_angle_PID[3];
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//电机速度pid结构体
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pid_type_def speed_pid;
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//位置环pid
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pid_type_def angle_pid;
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bool is_hooked;// 标记钩子是否已经钩住拉簧
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float limit_speed;//go电机限速
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};
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#endif
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