可用三摩擦

Core/Src/gpio.c

@@ -94,7 +94,7 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = KEY_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(KEY_GPIO_Port, &GPIO_InitStruct);
 

Core/Src/stm32f4xx_it.c

@@ -279,8 +279,8 @@ void USART1_IRQHandler(void)
 /**
   * @brief This function handles USART3 global interrupt.
   */
-//void USART3_IRQHandler(void)
+// void USART3_IRQHandler(void)
-//{
+// {
 //   /* USER CODE BEGIN USART3_IRQn 0 */
 
 //   /* USER CODE END USART3_IRQn 0 */
@@ -288,7 +288,7 @@ void USART1_IRQHandler(void)
 //   /* USER CODE BEGIN USART3_IRQn 1 */
 
 //   /* USER CODE END USART3_IRQn 1 */
-//}
+// }
 
 /**
   * @brief This function handles DMA2 stream1 global interrupt.

MDK-ARM/R1-shooter.uvoptx

@@ -188,44 +188,71 @@
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball,0x0A</ItemText>
+          <ItemText>cnt1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cnt1,0x0A</ItemText>
+          <ItemText>cmd_fromnuc</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
+          <ItemText>nucData</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucData</ItemText>
+          <ItemText>send,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>send,0x0A</ItemText>
+          <ItemText>speed1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>speed1,0x0A</ItemText>
+          <ItemText>abc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
+          <ItemText>\\R1_shooter\../User/task/ballTask.cpp\ball,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>speedm,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
           <ItemText>abc,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>flag,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>18</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball_state,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>ball,0x0A</ItemText>
+        </Ww>
+      </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -1060,7 +1087,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

R1-shooter.ioc

@@ -174,8 +174,9 @@ NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
 PA0-WKUP.GPIO_Label=KEY
+PA0-WKUP.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
 PA0-WKUP.Locked=true
 PA0-WKUP.Signal=GPXTI0

User/module/ball.cpp

@@ -7,12 +7,16 @@ extern RC_ctrl_t rc_ctrl;
 extern int key;
 
 // 定义状态机变量
-BallState_t currentBallState = BALL_IDLE;
+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;
 
 #define MOTOR_SPEED 1000
 
 const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0};
 
+//PE11 气缸
+
 //三摩擦轮运球！！！
 
 Ball ::Ball()
@@ -45,46 +49,90 @@ void Ball ::Spin(float speed)
 
     }
 
-    CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
-    osDelay(1);
-
 }
 
+	int flag =0;
+	int ball_state = 0;
 void Ball::ballHadling(void)
 {
+
+    ball_state =HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);//有球 0 无球 1
+    switch (currentState1)
+    {
+    case BALL_IDLE:
+       HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
         if (key > 0) // 检测按键是否被按下
         {
-        if (key % 2 == 1) // key 为奇数，摩擦轮正转
+            speedm=-4000;
-        {
+            currentState1 = BALL_FORWARD; // 切换到正转状态
-            Spin(5000); // 正转
         }
-        else if (key % 2 == 0) // key 为偶数，摩擦轮反转
+        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 )
         {
-            Spin(-5000); // 反转
+            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
         }
+        break;
+
+    case BALL_DROP:
+
+        if (ball_state == 1) 
+        {
+            osDelay(200); // 延时50ms
+            speedm=2500;
+            currentState1 = BALL_REVERSE; // 切换到反转状态
+        }
+        
+        break;
+
+    case BALL_REVERSE:
+       
+        if (ball_state == 0) 
+        {
+            
+            flag=2;
+            speedm=0;
+            currentState1 = BALL_CLOSE; // 切换到完成状态
+        }
+     
+     break;
+
+    case BALL_CLOSE:
+        osDelay(200); // 延时50ms
+        if (flag == 2) 
+        {
+            if(ball_state == 0)
+            {
+                HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+                currentState1 = BALL_FINISH; // 切换到完成状态
+            }
+          
+        }
+        break;    
+
+    case BALL_FINISH:
+        osDelay(200); // 延时50ms
+        key = 0; // 重置按键状态
+        flag=0;
+        speedm=0;
+        currentState1 = BALL_IDLE; // 回到空闲状态
+        break;
+
+    default:
+       currentState1 = BALL_IDLE; // 默认回到空闲状态
+        break;
     }
 
 }
 
-// void Ball::ballHadling(void)
+void Ball::Send_control()
-// {
+{
-//     static bool isReversed = false; // 静态变量，记录当前摩擦轮状态，初始为正转
+    CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
 
-//     if (key > 0) // 检测按键是否被按下
+}
-//     {
-//         key = 0; // 重置按键状态，防止重复触发
 
-//         if (isReversed)
-//         {
-//             // 当前为反转，切换为正转
-//             Spin(MOTOR_SPEED); // 正转
-//             isReversed = false;
-//         }
-//         else
-//         {
-//             // 当前为正转，切换为反转
-//             Spin(-MOTOR_SPEED); // 反转
-//             isReversed = true;
-//         }
-//     }
-// }

User/module/ball.hpp

@@ -10,11 +10,11 @@
 // 定义状态枚举
 typedef enum {
     BALL_IDLE,         // 空闲状态
-    BALL_RELEASE,       // 下球气缸弹出，爪子张开
+    BALL_FORWARD,      // 正转状态
-    BALL_JOINT_REVERSE, // 关节电机反转置水平位置
+    BALL_DROP,         // 球下落状态
-    BALL_FALLING,       // 球加速落下
+    BALL_REVERSE,      // 反转状态
-    BALL_WAIT_BOUNCE,   // 等待光电检测反弹
+    BALL_CLOSE,         // 关闭状态
-    BALL_NET_CLOSE      // 收网状态
+    BALL_FINISH        // 完成状态
 } BallState_t;
 
 typedef enum
@@ -35,14 +35,15 @@ public:
     Ball();
     void Spin(float speed);
     void ballHadling(void);
+    void Send_control(void);
     void ballStateMachine(void);
 
     int16_t result[MOTOR_NUM];
-   
+    motor_measure_t *hand_Motor[MOTOR_NUM];
 private:
 
     int up_ball_state; //上球状态 0:无球 1:有球
-    motor_measure_t *hand_Motor[MOTOR_NUM];
+  
     //三个摩擦轮
     static const float M3508_speed_PID[3];
     static const float M3508_angle_PID[3];

User/task/ballTask.cpp

@@ -10,6 +10,7 @@ Ball ball;
 int abc=0;
 int c30=0;
 int speed1=500;
+extern int speedm;
 
 void FunctionBall(void *argument)
 {
@@ -23,10 +24,10 @@ void FunctionBall(void *argument)
 #ifdef DEBUG
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
-       	abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
+       abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
        ball.ballHadling(); // 处理摩擦轮转动
-       // ball.Spin(speed1);
+       ball.Spin(speedm);
-        osDelay(3);
+       ball.Send_control(); 
 
         tick += delay_tick; /* 计算下一个唤醒时刻 */
         osDelayUntil(tick);