From aa232e98620cdc31d0de18a0527b58f47ce394a2 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Wed, 30 Apr 2025 13:20:30 +0800
Subject: [PATCH] =?UTF-8?q?=EF=BC=9F?=
MIME-Version: 1.0
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---
 User/device/djiMotor.c |  2 +-
 User/module/ball.cpp   | 19 +++++--------------
 User/task/ballTask.cpp |  5 ++++-
 3 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index e2042c4..1172199 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -159,7 +159,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     
 }
 #else
-static osEventFlagsId_t eventReceive;
+//static osEventFlagsId_t eventReceive;
 static osThreadId_t thread_alert;
 /**
   * @brief          自定义大疆电机回调函数
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 1ea8443..67dfadf 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -29,7 +29,7 @@ Ball ::Ball()
     if(i <=3)
     {
         hand_Motor[i]->type = M3508;//设置电机类型
-        PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 10000);//pid初始化
+        PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 1000);//pid初始化
     }  
     result[i] = 0;
     speedSet[i] = 0;    
@@ -87,9 +87,9 @@ void Ball::ballHadling(void)
 
         if (ball_state == 1) //读光电 有球 0  无球 1
         {
-            osDelay(200); // 延时200ms
-            speedm=4500;
-            speedm1=4500;
+            osDelay(100); // 延时200ms
+            speedm=2500;
+            speedm1=2500;
             currentState1 = BALL_REVERSE; // 切换到反转状态
         }
         
@@ -100,7 +100,6 @@ void Ball::ballHadling(void)
         if (ball_state == 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
@@ -115,15 +114,7 @@ void Ball::ballHadling(void)
            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
            currentState1 = BALL_FINISH; // 切换到完成状态
        }
-        // 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:
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index ff14774..eda35f3 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -37,7 +37,10 @@ void FunctionBall(void *argument)
       vofa[1] = -ball.hand_Motor[0]->speed_rpm; // 发送电机角度数据
       vofa[2] = ball.hand_Motor[1]->speed_rpm; // 发送电机速度数据
       vofa[3] = ball.hand_Motor[2]->speed_rpm; // 发送电机速度数据
-
+      vofa[4] = ball.result[0];
+      vofa[5] = ball.result[1];
+      vofa[6] = ball.result[2];
+      
       vofa_tx_main(vofa); // 发送数据到虚拟串口
 
         tick += delay_tick; /* 计算下一个唤醒时刻 */