From 8fc2f50677ecabc32b37eac7a7df89d916fefef0 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Thu, 22 May 2025 16:12:37 +0800 Subject: [PATCH] =?UTF-8?q?=E7=AE=80=E5=8D=95=E8=B0=83=E9=80=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/c_cpp_properties.json | 36 +++++++++++++------------- MDK-ARM/.vscode/keil-assistant.log | 6 +++++ MDK-ARM/.vscode/settings.json | 18 ++++++++++++- User/module/ball.cpp | 37 ++++----------------------- User/module/ball.hpp | 4 +-- 5 files changed, 48 insertions(+), 53 deletions(-) diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json index 120b12d..2492d5b 100644 --- a/MDK-ARM/.vscode/c_cpp_properties.json +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -3,26 +3,26 @@ { "name": "R1-shooter", "includePath": [ - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Core\\Inc", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Drivers\\CMSIS\\Include", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\User\\bsp", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\User\\module", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\User\\task", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\User\\lib", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\User\\device", "D:\\keil\\ARM\\ARMCC\\include", "D:\\keil\\ARM\\ARMCC\\include\\rw", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\MDK-ARM", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Core\\Src", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source", + "d:\\Desktop\\r1\\r1_upper - xiaomi\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" ], "defines": [ "USE_HAL_DRIVER", diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 3a88102..1ea276a 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -90,3 +90,9 @@ [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|16:11:31|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/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