From 1fdf3e7e384658823e2117ae51dbbecab729af9c Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Fri, 23 May 2025 20:56:07 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E5=A7=8B=E5=81=9A=E6=8B=9F=E5=90=88?= =?UTF-8?q?=E8=87=AA=E7=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 10 +++++ MDK-ARM/.vscode/settings.json | 18 ++++++++- MDK-ARM/.vscode/uv4.log | 6 +-- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1-shooter.uvoptx | 60 +++++++++++++++++++++++++++--- User/bsp/uart_it.c | 4 +- User/module/ball.cpp | 37 +++--------------- User/module/ball.hpp | 4 +- User/module/shoot.cpp | 20 ++++++++-- User/module/shoot.hpp | 5 +++ User/task/gimbalTask.cpp | 12 +++--- User/task/shootTask.cpp | 7 ++++ 12 files changed, 129 insertions(+), 56 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 3a88102..8fe8493 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -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 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index 19c145a..cc128af 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -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" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 8ba7939..6fa1216 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -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 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index ea230dc..d44ea73 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/5/20 23:55:49 \ No newline at end of file +2025/5/23 20:55:43 \ No newline at end of file diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx index e401a6a..2b9c404 100644 --- a/MDK-ARM/R1-shooter.uvoptx +++ b/MDK-ARM/R1-shooter.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 3 + 6 @@ -114,7 +114,7 @@ - BIN\CMSIS_AGDI.dll + STLink\ST-LINKIII-KEIL_SWO.dll @@ -140,7 +140,7 @@ 0 DLGUARM - + (105=-1,-1,-1,-1,0) 0 @@ -153,7 +153,40 @@ -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) - + + + 0 + 0 + 169 + 1 +
134235782
+ 0 + 0 + 0 + 0 + 0 + 1 + ..\User\device\djiMotor.c + + \\R1_shooter\../User/device/djiMotor.c\169 + + + 1 + 0 + 174 + 1 +
134235770
+ 0 + 0 + 0 + 0 + 0 + 1 + ..\User\device\djiMotor.c + + \\R1_shooter\../User/device/djiMotor.c\174 + + 0 @@ -255,6 +288,21 @@ 1 angle1,0x0A + + 20 + 1 + rx_header + + + 21 + 1 + rx_data + + + 22 + 1 + motor_5065 + @@ -985,7 +1033,7 @@ User/device - 0 + 1 0 0 0 @@ -1065,7 +1113,7 @@ User/module - 1 + 0 0 0 0 diff --git a/User/bsp/uart_it.c b/User/bsp/uart_it.c index af6bfb9..a55a89f 100644 --- a/User/bsp/uart_it.c +++ b/User/bsp/uart_it.c @@ -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; diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 9ca6f6a..f1d4393 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -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 diff --git a/User/module/ball.hpp b/User/module/ball.hpp index 1b681e0..c7100da 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -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 diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index fde279c..32e84e1 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -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; +} diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp index 361c0ba..a034ce1 100644 --- a/User/module/shoot.hpp +++ b/User/module/shoot.hpp @@ -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 diff --git a/User/task/gimbalTask.cpp b/User/task/gimbalTask.cpp index 5138330..2b37f5c 100644 --- a/User/task/gimbalTask.cpp +++ b/User/task/gimbalTask.cpp @@ -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); diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp index ea16fe1..4802847 100644 --- a/User/task/shootTask.cpp +++ b/User/task/shootTask.cpp @@ -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();