暂存一下

User/device/detect.c

@@ -7,7 +7,7 @@ int key=0;
 void detect_exit(void)
 {
     
-    delay_ms(100); // 延时10ms
+    delay_ms(10); // 延时10ms
     key++; // 按键按下时变量自增
     __HAL_GPIO_EXTI_CLEAR_IT(KEY_Pin); // 清除中断标志位
 }

User/module/ball.cpp

@@ -10,6 +10,7 @@ extern int key;
 BallState_t currentState1 = BALL_IDLE; // 当前状态
 uint32_t startTime = 0;             // 用于记录延时的起始时间
 int speedm=0;
+int speedm1=0;
 
 #define MOTOR_SPEED 1000
 
@@ -36,18 +37,24 @@ Ball ::Ball()
      
 }
 
-void Ball ::Spin(float speed)
+void Ball ::Spin(float speed,float speed2)
 {
 
     speedSet[MOTOR_1] = -speed;
     result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
 
-    for(int i = 1;i < MOTOR_NUM;i ++)
+    speedSet[MOTOR_2] = speed2;
-    {
+    result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);
-        speedSet[i] = speed;
-        result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
 
-    }
+    speedSet[MOTOR_3] = speed;
+    result[MOTOR_3] = PID_calc(&speed_pid[MOTOR_3],hand_Motor[MOTOR_3]->speed_rpm,speedSet[MOTOR_3]);
+
+    // for(int i = 1;i < MOTOR_NUM;i ++)
+    // {
+    //     speedSet[i] = speed;
+    //     result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
+
+    // }
 
 }
 
@@ -60,19 +67,20 @@ void Ball::ballHadling(void)
     switch (currentState1)
     {
     case BALL_IDLE:
-       HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+       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
         {
-            speedm=-4000;
+            speedm=-4500;
+            speedm1=-3500;
             currentState1 = BALL_FORWARD; // 切换到正转状态
         }
         break;
 
     case BALL_FORWARD:
 
-        if (  hand_Motor[MOTOR_1]->speed_rpm > 3980&&hand_Motor[MOTOR_1]->speed_rpm <= 4010&&
+        if (  hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4520 &&
-              hand_Motor[MOTOR_2]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010&&
+              hand_Motor[MOTOR_2]->speed_rpm <= -2980-500&&hand_Motor[MOTOR_2]->speed_rpm >= -3020-500 &&          
-              hand_Motor[MOTOR_3]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010 )
+              hand_Motor[MOTOR_3]->speed_rpm <= -4480&&hand_Motor[MOTOR_3]->speed_rpm >= -4020-1000 )
         {
             HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);// 打开气缸
             currentState1 = BALL_DROP; // 切换到球下落状态
@@ -81,10 +89,11 @@ void Ball::ballHadling(void)
 
     case BALL_DROP:
 
-        if (ball_state == 1) 
+        if (ball_state == 1) //读光电 有球 0  无球 1
         {
-            osDelay(200); // 延时50ms
+            osDelay(200); // 延时200ms
-            speedm=2500;
+            speedm=3000;
+            speedm1=3000;
             currentState1 = BALL_REVERSE; // 切换到反转状态
         }
         
@@ -95,8 +104,9 @@ void Ball::ballHadling(void)
         if (ball_state == 0) 
         {
             
-            flag=2;
+            flag=2;   //抽象的计次
-            speedm=0;
+            speedm=0; // 停止电机
+            speedm1=0;
             currentState1 = BALL_CLOSE; // 切换到完成状态
         }
      
@@ -120,6 +130,7 @@ void Ball::ballHadling(void)
         key = 0; // 重置按键状态
         flag=0;
         speedm=0;
+        speedm1=0;
         currentState1 = BALL_IDLE; // 回到空闲状态
         break;
 

User/module/ball.hpp

@@ -33,7 +33,7 @@ class Ball
 {
 public:
     Ball();
-    void Spin(float speed);
+    void Spin(float speed,float speed2);
     void ballHadling(void);
     void Send_control(void);
     void ballStateMachine(void);

User/task/ballTask.cpp

@@ -7,10 +7,10 @@
 #include "remote_control.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
+
 int abc=0;
-int c30=0;
-int speed1=500;
 extern int speedm;
+extern int speedm1;
 
 void FunctionBall(void *argument)
 {
@@ -25,8 +25,9 @@ void FunctionBall(void *argument)
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
        abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+
        ball.ballHadling(); // 处理摩擦轮转动
-       ball.Spin(speedm);
+       ball.Spin(speedm,speedm1);
        ball.Send_control(); 
 
         tick += delay_tick; /* 计算下一个唤醒时刻 */

User/task/shootTask.cpp

@@ -8,7 +8,6 @@
 #include "remote_control.h"
 extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
-int k=0;
 
 // sw[0]2 下306上1694 sw[5]3前306后1694 sw[4]4前1694后306 sw[1]xuan1 sw[3]xuan2 
 
@@ -26,7 +25,6 @@ while(1)
 	task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());  
 #endif
 
-    k++;
 	shoot.shootThree();
 	shoot.shootBack();