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暂存一下

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This commit is contained in:
ws 2025-04-22 11:18:45 +08:00
parent a609af6ba4
commit 36ad4c7c96
5 changed files with 33 additions and 23 deletions
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2
User/device/detect.c
View File

@ -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
}

43
User/module/ball.cpp
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@ -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[i] = speed;
result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
speedSet[MOTOR_2] = speed2;
result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);
}
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&&
hand_Motor[MOTOR_2]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010&&
hand_Motor[MOTOR_3]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010 )
if ( hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4520 &&
hand_Motor[MOTOR_2]->speed_rpm <= -2980-500&&hand_Motor[MOTOR_2]->speed_rpm >= -3020-500 &&
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
speedm=2500;
osDelay(200); // 延时200ms
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;
speedm=0;
flag=2; //抽象的计次
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;

2
User/module/ball.hpp
View File

@ -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);

7
User/task/ballTask.cpp
View File

@ -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 */

2
User/task/shootTask.cpp
View File

@ -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();