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开始做拟合自瞄

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This commit is contained in:
ws 2025-05-23 20:56:07 +08:00
parent 3d482325fb
commit 1fdf3e7e38
12 changed files with 129 additions and 56 deletions
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10
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -90,3 +90,13 @@
[info] Log at : 2025/5/20|19:15:21|GMT+0800
[info] Log at : 2025/5/21|17:11:48|GMT+0800
[info] Log at : 2025/5/21|19:21:48|GMT+0800
[info] Log at : 2025/5/22|18:05:58|GMT+0800
[info] Log at : 2025/5/23|19:18:37|GMT+0800
[info] Log at : 2025/5/23|19:32:28|GMT+0800

18
MDK-ARM/.vscode/settings.json vendored
View File

@ -13,6 +13,22 @@
"functional": "cpp",
"vofa.h": "c",
"user_math.h": "c",
"queue": "cpp"
"queue": "cpp",
"cctype": "cpp",
"cerrno": "cpp",
"cfloat": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"exception": "cpp",
"new": "cpp",
"typeinfo": "cpp",
"ostream": "cpp"
}
}

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1-shooter'
compiling ball.cpp...
compiling gimbalTask.cpp...
linking...
Program Size: Code=28460 RO-data=1824 RW-data=256 ZI-data=23936
Program Size: Code=28656 RO-data=1824 RW-data=252 ZI-data=23940
FromELF: creating hex file...
"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:03

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/5/20 23:55:49
2025/5/23 20:55:43

60
MDK-ARM/R1-shooter.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>6</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
<Name>(105=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -153,7 +153,40 @@
<Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>169</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134235782</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\device\djiMotor.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\R1_shooter\../User/device/djiMotor.c\169</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>174</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134235770</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\device\djiMotor.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\R1_shooter\../User/device/djiMotor.c\174</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
@ -255,6 +288,21 @@
<WinNumber>1</WinNumber>
<ItemText>angle1,0x0A</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>rx_header</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>rx_data</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>motor_5065</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
@ -985,7 +1033,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1065,7 +1113,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

4
User/bsp/uart_it.c
View File

@ -13,7 +13,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
return BSP_UART_DR16;
else if (huart->Instance == USART1)
return BSP_UART_REF;
else if (huart->Instance == USART1)
else if (huart->Instance == USART6)
return BSP_UART_AI;
/*
else if (huart->Instance == USARTX)
@ -112,7 +112,7 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
case BSP_UART_REF:
return &huart1;
case BSP_UART_AI:
return &huart1;
return &huart6;
/*
case BSP_UART_XXX:
return &huartX;

37
User/module/ball.cpp
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@ -10,8 +10,7 @@ extern int key;
// C键 sw[4]👆 200 中1000 👇1800
// D键 sw[5]👆 1800 👇200
#define START 0
#define OUT 100
#define M_SPEED 4000
#if HANDLING3 == 1
//三摩擦轮运球！！！
@ -21,8 +20,9 @@ const fp32 Ball:: M3508_speed_PID[3] = {15, 0.03, 0};
const fp32 Ball:: Extend_speed_PID[3] = { 25, 0, 0.};
const fp32 Ball:: Extend_angle_PID[3]= { 60, 0, 0.1};
//摩擦轮转速
int speedm=0;
int speedm1=0;
//PE11 气缸
Ball ::Ball()
@ -64,27 +64,6 @@ Ball ::Ball()
currentState1= BALL_IDLE;
// for(int i = 0;i < MOTOR_NUM;i ++)
// {
// //摩擦轮滤波器初始化
// LowPassFilter2p_Init(filter.in + i , 500,
// -1.0f);
// LowPassFilter2p_Init(filter.out + i, 500,
// -1.0f);
// }
}
void Ball :: Filter_init(float target_freq)
{
for(int i = 0;i < MOTOR_NUM;i ++)
{
//摩擦轮滤波器初始化
LowPassFilter2p_Init(filter.in + i , target_freq,
-1.0f);
LowPassFilter2p_Init(filter.out + i, target_freq,
-1.0f);
}
}
void Ball ::Extend_control(int angle)
@ -168,11 +147,7 @@ void Ball::ballTake(void)
}
}
int flag =0;
int ball_state = 0;
void Ball::ballHadling(void)
{
@ -181,7 +156,6 @@ void Ball::ballHadling(void)
{
case BALL_IDLE:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸
// if (key > 0) // 检测按键是否被按下
if (rc_ctrl.sw[4] > 1000||key > 0) // 检测按键是否被按下,自动回弹的
{
speedm=-4000;
@ -223,7 +197,7 @@ void Ball::ballHadling(void)
break;
case BALL_CLOSE:
// osDelay(200); // 延时50ms
if(ball_state == 1)
{
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
@ -235,7 +209,6 @@ void Ball::ballHadling(void)
case BALL_FINISH:
osDelay(200); // 延时50ms
key=0; // 重置按键状态
flag=0;
speedm=0;
osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
currentState1 = BALL_IDLE; // 回到空闲状态

4
User/module/ball.hpp
View File

@ -48,7 +48,6 @@ class Ball
{
public:
Ball();
void Filter_init(float target_freq);
void Spin(float speed);
void ballHadling(void);
void ballDown(void);
@ -58,6 +57,8 @@ public:
void Extend_control(int angle);
BallState_t currentState1; // 当前状态
int flag;//暂时还没用到
int ball_state ;//光电检测
//伸缩6020
int16_t e_result[2];
@ -70,7 +71,6 @@ public:
volatile BallState_t ballStatus;//是否有球
volatile uint32_t flag_thread;//接收传回的线程通知
Filter filter;
private:
//滤波一下

20
User/module/shoot.cpp
View File

@ -13,6 +13,8 @@ float vofa[8];
#define SHOOT_SPEED_BACK -2500
#define Error 50
int test_speed =30500;
#define STOP 0
#define Trigger_Torque -5000
@ -95,6 +97,8 @@ void Shoot::shootStop()
}
void Shoot::shootStateMachine() {
distance =3.5;
switch (currentState) {
case SHOOT_IDLE: {
speed_5065=STOP;
@ -108,9 +112,10 @@ void Shoot::shootStateMachine() {
case SHOOT_FIRE: {
// 发射状态，控制电机发射
speed_5065 = SHOOT_SPEED;
if(motor_5065[0]->rotor_speed>=SHOOT_SPEED-Error && motor_5065[0]->rotor_speed<=SHOOT_SPEED+Error &&
motor_5065[1]->rotor_speed>=SHOOT_SPEED-Error && motor_5065[1]->rotor_speed<=SHOOT_SPEED+Error)
// speed_5065 = test_speed;
speed_5065 =distanceToSpeed(distance);
if(motor_5065[0]->rotor_speed>=speed_5065-Error && motor_5065[0]->rotor_speed<=speed_5065+Error &&
motor_5065[1]->rotor_speed>=speed_5065-Error && motor_5065[1]->rotor_speed<=speed_5065+Error)
{
result=Trigger_Torque;//恒力扳机
}
@ -161,3 +166,12 @@ void Shoot::shootStateMachine() {
vofa_tx_main(vofa); // 发送数据到虚拟串口
}
//拟合函数
float distanceToSpeed(float x) {
return -2.3958f * x * x * x * x
+ 59.615f * x * x * x
- 525.63f * x * x
+ 2136.4f * x
+ 28001.0f;
}

5
User/module/shoot.hpp
View File

@ -44,6 +44,9 @@ public:
volatile BallState_t ballStatus;//是否有球
volatile uint32_t flag_thread;//接收传回的线程通知
//距离
float distance;
private:
//扳机2006
@ -57,4 +60,6 @@ private:
};
float distanceToSpeed(float x);
#endif

12
User/task/gimbalTask.cpp
View File

@ -8,7 +8,7 @@
#include "remote_control.h"
#include "nuc.h"
Gimbal gimbal;
NUC_t nucData; // 用于存储从队列接收的数据
// NUC_t nucData; // 用于存储从队列接收的数据
extern RC_ctrl_t rc_ctrl;
int cnt1=0;
@ -32,11 +32,11 @@ void FunctionGimbal(void *argument)
// gimbal.gimbalFlow();
// 从消息队列接收视觉数据
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
{
// 使用接收到的视觉数据调整云台
//gimbal.gimbalVision(nucData);
}
// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
// {
// // 使用接收到的视觉数据调整云台
// //gimbal.gimbalVision(nucData);
// }
osDelay(1);

7
User/task/shootTask.cpp
View File

@ -6,8 +6,10 @@
#include "shoot.hpp"
#include "motor.hpp"
#include "remote_control.h"
#include "nuc.h"
extern RC_ctrl_t rc_ctrl;
Shoot shoot;
NUC_t nucData; // 自瞄
int shoot_flag = 0;
@ -43,6 +45,11 @@ while(1)
shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
{
// 使用接收到的视觉数据调整云台
//gimbal.gimbalVision(nucData);
}
if(rc_ctrl.sw[1]>1000)
{
shoot.shootStateMachine();