395 lines
9.7 KiB
C++
395 lines
9.7 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 key;
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//伸缩
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#define I_ANGLE 0
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#define O_ANGLE 140
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//PE11 气缸
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Ball ::Ball()
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{
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detect_init();
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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 = 0; //
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xiaomi.speed = 20; //
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xiaomi.K_P = 100; //
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xiaomi.K_D =20; //
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xiaomi.K_C = 2 ;
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xiaomi.Pmax =1;
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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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}
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#if TESTBALL
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void Ball::ballDown(void)
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{
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HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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 = 0;
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}
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if(extern_key==OUT)
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{
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xiaomi.position = 90;
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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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case MIDDLE2:
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HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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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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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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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int ball_state = 0;
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int triggerCount = 0; // 光电传感器触发计数
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int last_ball_state = 1; // 上一次的光电状态
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//(有球 0,无球 1)
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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(PAW_GPIO_Port, PAW_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 (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下
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{
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key = 0; // 重置按键状态
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triggerCount = 0; // 重置触发计数
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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(PAW_GPIO_Port, PAW_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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if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
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{
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//osDelay(10); // 延时去抖动
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triggerCount++; // 增加触发计数
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if (triggerCount == 1) // 第一次触发
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{
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currentState1 = BALL_FLAG; // 切换到等待第二次触发状态
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}
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}
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last_ball_state = ball_state; // 更新上一次的状态
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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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if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
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{
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triggerCount++; // 增加触发计数
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currentState1 = BALL_CLOSE; // 切换到闭合气缸状态
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}
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last_ball_state = ball_state; // 更新上一次的状态
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break;
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case BALL_CLOSE:
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if (triggerCount == 2) // 确保是第二次触发
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{
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osDelay(50);
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HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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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}
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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(PAW_GPIO_Port, PAW_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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key = 0; // 重置按键状态
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triggerCount = 0; // 重置触发计数
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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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//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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xiaomi.position = I_ANGLE;
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if(feedback->position_deg== I_ANGLE) // 确保伸缩电机到位
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{
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HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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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if(ball_state==0)//检测到球
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{
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osThreadFlagsSet(task_struct.thread.ball, BALL_DOWN);
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//osThreadFlagsSet(task_struct.thread.shoot, BALL_DOWN);
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xiaomi.position = O_ANGLE;
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}
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if(hand_thread & BALL_DOWN)
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{
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if(feedback->position_deg== O_ANGLE)
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{
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osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK); //告诉发射球出去了
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osThreadFlagsSet(task_struct.thread.ball, EXTEND_OK); //告诉发射球出去了
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}
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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(PAW_GPIO_Port, PAW_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(hand_thread & EXTEND_OK)
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{
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xiaomi.position = O_ANGLE; // 伸缩电机伸出去
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}
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else
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{
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xiaomi.position = I_ANGLE; // 伸缩电机回位,底盘可能跑的更好
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}
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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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currentState1 = BALL_IDLE; // 默认回到空闲状态
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}
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}
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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 1，无球 0)
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switch (rc_key){
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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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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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int ball_state = 0;
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int triggerCount = 0; // 光电传感器触发计数
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int last_ball_state = 1; // 上一次的光电状态
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//(有球 0,无球 1)
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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(PAW_GPIO_Port, PAW_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 (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下
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{
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key = 0; // 重置按键状态
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triggerCount = 0; // 重置触发计数
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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(PAW_GPIO_Port, PAW_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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if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
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{
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//osDelay(10); // 延时去抖动
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triggerCount++; // 增加触发计数
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if (triggerCount == 1) // 第一次触发
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{
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currentState1 = BALL_FLAG; // 切换到等待第二次触发状态
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}
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}
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last_ball_state = ball_state; // 更新上一次的状态
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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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if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
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{
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triggerCount++; // 增加触发计数
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currentState1 = BALL_CLOSE; // 切换到闭合气缸状态
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}
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last_ball_state = ball_state; // 更新上一次的状态
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break;
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case BALL_CLOSE:
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if (triggerCount == 2) // 确保是第二次触发
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{
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osDelay(50);
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HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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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}
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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(PAW_GPIO_Port, PAW_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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key = 0; // 重置按键状态
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triggerCount = 0; // 重置触发计数
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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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