91 lines
1.7 KiB
C++
91 lines
1.7 KiB
C++
#ifndef BALL_HPP
|
|
#define BALL_HPP
|
|
#include "main.h"
|
|
#include "TopDefine.h"
|
|
#include "cmsis_os.h"
|
|
#include "FreeRTOS.h"
|
|
#include <cmsis_os2.h>
|
|
#include "bsp_delay.h"
|
|
#include "djiMotor.h"
|
|
#include "pid.h"
|
|
#include "filter.h"
|
|
#include "calc_lib.h"
|
|
|
|
#define TESTBALL 0
|
|
#define ONE_CONTROL 1
|
|
|
|
// 定义状态枚举
|
|
typedef enum {
|
|
BALL_IDLE, // 空闲状态
|
|
BALL_FORWARD, //
|
|
BALL_DROP, //
|
|
BALL_REVERSE, //
|
|
BALL_FLAG,
|
|
BALL_CLOSE, // 关闭状态
|
|
BALL_FINISH, // 完成状态
|
|
|
|
//持球状态
|
|
BALL_TAKE,
|
|
BALL_LOSE
|
|
|
|
} BallState_t;
|
|
|
|
typedef enum
|
|
{
|
|
MOTOR_1 = 0,
|
|
MOTOR_2 = 1,
|
|
MOTOR_3 = 2,
|
|
MOTOR_DOWN = 3,
|
|
MOTOR_NUM
|
|
}motorhangd_e;
|
|
|
|
typedef enum
|
|
{
|
|
UP2=1,
|
|
MIDDLE2,
|
|
DOWN2,
|
|
IN,
|
|
OUT
|
|
}ball_rc_mode;
|
|
|
|
// 定义光电传感器检测宏
|
|
#define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)
|
|
|
|
class Ball
|
|
{
|
|
public:
|
|
Ball();
|
|
void ballHadling(void);
|
|
void ballDown(void);
|
|
void Send_control(void);
|
|
void Move_Extend(void);
|
|
void Idle_control(void);
|
|
void rc_mode(void);
|
|
void Extend_mcontrol(int angle1,int angle2);
|
|
void ball_control(void);
|
|
|
|
BallState_t currentState1; // 当前状态
|
|
int flag_thread;//暂时还没用到
|
|
int ball_state ;//光电检测
|
|
|
|
|
|
//小米电机伸缩
|
|
MotorFeedback_t *feedback;
|
|
JZ_xiaomi_t xiaomi;
|
|
|
|
|
|
//==========================公共变量==========================//
|
|
int16_t rc_key; //遥控器按键
|
|
int16_t extern_key;
|
|
//用于传接球,运球后通知
|
|
volatile BallState_t ballStatus;//是否有球
|
|
volatile uint32_t hand_thread;//接收传回的线程通知
|
|
|
|
private:
|
|
|
|
|
|
|
|
};
|
|
|
|
#endif
|