From ec3771a1a2e63efdb9929057f55ead97a0176dea Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Sat, 26 Apr 2025 17:45:08 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BF=90=E7=90=83=E4=B8=8A=E8=BD=A6=E5=89=8D?= =?UTF-8?q?=E9=83=BDok=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 9 ++ Core/Src/gpio.c | 2 +- MDK-ARM/.vscode/keil-assistant.log | 32 +++++ MDK-ARM/.vscode/settings.json | 4 +- MDK-ARM/.vscode/uv4.log | 6 +- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1-shooter.uvoptx | 30 +++-- R1-shooter.ioc | 2 +- User/bsp/can_init.c | 27 ++++ User/device/detect.c | 2 +- User/device/djiMotor.c | 13 +- User/device/vofa.c | 6 +- User/device/vofa.h | 7 +- User/module/ball.cpp | 191 ++++++++++++++++++++++++----- User/module/ball.hpp | 3 + User/task/ballTask.cpp | 24 +++- User/task/encodeCan.cpp | 8 +- User/task/nucTask.cpp | 6 +- User/task/userTask.c | 4 +- 19 files changed, 312 insertions(+), 66 deletions(-) diff --git a/.gitignore b/.gitignore index fe9c9c5..5981417 100644 --- a/.gitignore +++ b/.gitignore @@ -99,3 +99,12 @@ JLinkLog.txt # Other Files +# Log files +*.log +*.log.lock + +# JSON files +*.json + +# uVision Options +*.uvoptx diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 59f14c6..b618657 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -121,7 +121,7 @@ void MX_GPIO_Init(void) /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = STOP_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(STOP_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : PtPin */ diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index c3bdeca..b3c05a0 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -22,3 +22,35 @@ [info] Log at : 2025/4/16|16:20:32|GMT+0800 +[info] Log at : 2025/4/19|19:27:22|GMT+0800 + +[info] Log at : 2025/4/19|21:14:34|GMT+0800 + +[info] Log at : 2025/4/19|23:02:49|GMT+0800 + +[info] Log at : 2025/4/20|14:28:49|GMT+0800 + +[info] Log at : 2025/4/20|15:44:16|GMT+0800 + +[info] Log at : 2025/4/20|16:25:11|GMT+0800 + +[info] Log at : 2025/4/21|17:04:22|GMT+0800 + +[info] Log at : 2025/4/22|10:54:46|GMT+0800 + +[info] Log at : 2025/4/22|19:20:19|GMT+0800 + +[info] Log at : 2025/4/23|14:36:25|GMT+0800 + +[info] Log at : 2025/4/23|17:15:10|GMT+0800 + +[info] Log at : 2025/4/24|22:10:33|GMT+0800 + +[info] Log at : 2025/4/24|23:29:19|GMT+0800 + +[info] Log at : 2025/4/25|18:41:24|GMT+0800 + +[info] Log at : 2025/4/25|18:59:20|GMT+0800 + +[info] Log at : 2025/4/26|16:18:23|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index cdb910e..9d1717c 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -9,6 +9,8 @@ "task.h": "c", "djimotor.h": "c", "nuc.h": "c", - "crc_ccitt.h": "c" + "crc_ccitt.h": "c", + "functional": "cpp", + "vofa.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 84f9363..2ac5c03 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,4 +1,8 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1-shooter' +compiling ball.cpp... +linking... +Program Size: Code=26644 RO-data=1812 RW-data=240 ZI-data=23520 +FromELF: creating hex file... "R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:03 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 8787f84..e1bf9c5 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/4/13 22:09:19 \ No newline at end of file +2025/4/26 16:32:18 \ No newline at end of file diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx index 6ae841a..a3a851b 100644 --- a/MDK-ARM/R1-shooter.uvoptx +++ b/MDK-ARM/R1-shooter.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 6 + 3 @@ -114,9 +114,14 @@ - STLink\ST-LINKIII-KEIL_SWO.dll + BIN\CMSIS_AGDI.dll + + 0 + CMSIS_AGDI + -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + 0 ARMRTXEVENTFLAGS @@ -135,7 +140,7 @@ 0 DLGUARM - (105=-1,-1,-1,-1,0) + 0 @@ -145,7 +150,7 @@ 0 ST-LINKIII-KEIL_SWO - -U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + -U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) @@ -218,22 +223,22 @@ 13 1 - abc,0x0A + \\R1_shooter\../User/task/ballTask.cpp\ball,0x0A 14 1 - \\R1_shooter\../User/task/ballTask.cpp\ball,0x0A + currentState1 15 1 - speedm,0x0A + abc,0x0A 16 1 - abc,0x0A + ball_state,0x0A 17 @@ -243,7 +248,12 @@ 18 1 - ball_state,0x0A + triggerCount,0x0A + + + 19 + 1 + last_ball_state,0x0A @@ -261,7 +271,7 @@ 1 1 0 - 0 + 1 0 0 1 diff --git a/R1-shooter.ioc b/R1-shooter.ioc index 2091ec3..9332e11 100644 --- a/R1-shooter.ioc +++ b/R1-shooter.ioc @@ -260,7 +260,7 @@ PE14.Locked=true PE14.Signal=GPIO_Output PE9.GPIOParameters=GPIO_PuPd,GPIO_Label PE9.GPIO_Label=STOP -PE9.GPIO_PuPd=GPIO_PULLUP +PE9.GPIO_PuPd=GPIO_PULLDOWN PE9.Locked=true PE9.Signal=GPIO_Input PF6.GPIOParameters=GPIO_Speed,GPIO_Label diff --git a/User/bsp/can_init.c b/User/bsp/can_init.c index 27b0c5e..e1830be 100644 --- a/User/bsp/can_init.c +++ b/User/bsp/can_init.c @@ -32,3 +32,30 @@ void can_filter_init(void) HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); } +// void can_filter_init(void) +// { + +// CAN_FilterTypeDef can_filter_st; +// can_filter_st.FilterActivation = ENABLE; +// can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK; +// can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT; +// can_filter_st.FilterIdHigh = 0x0000; +// can_filter_st.FilterIdLow = 0x0000; +// can_filter_st.FilterMaskIdHigh = 0x0000; +// can_filter_st.FilterMaskIdLow = 0x0000; +// can_filter_st.FilterBank = 0; +// can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0; +// HAL_CAN_ConfigFilter(&hcan1, &can_filter_st); +// HAL_CAN_Start(&hcan1); +// HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); + + +// can_filter_st.SlaveStartFilterBank = 14; +// can_filter_st.FilterBank = 14; +// HAL_CAN_ConfigFilter(&hcan2, &can_filter_st); +// HAL_CAN_Start(&hcan2); +// HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); + + + +// } diff --git a/User/device/detect.c b/User/device/detect.c index 2775d38..90b75ed 100644 --- a/User/device/detect.c +++ b/User/device/detect.c @@ -24,7 +24,7 @@ void detect_init(void) { BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit); - //BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led); + // BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led); // 注册按键中断回调函数 if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) { // 错误处理 diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c index eb2fc65..e2042c4 100644 --- a/User/device/djiMotor.c +++ b/User/device/djiMotor.c @@ -160,6 +160,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) } #else static osEventFlagsId_t eventReceive; +static osThreadId_t thread_alert; /** * @brief 自定义大疆电机回调函数 * @param[in] none @@ -169,8 +170,8 @@ void Dji_Motor_CB() { HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data); - - osEventFlagsSet(eventReceive, EVENT_CAN); + osThreadFlagsSet(thread_alert, EVENT_CAN); + // osEventFlagsSet(eventReceive, EVENT_CAN); } void can2_Motor_CB(void) { @@ -184,6 +185,7 @@ void can2_Motor_CB(void) */ void djiInit(void) { + thread_alert = osThreadGetId(); BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, Dji_Motor_CB); BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, @@ -197,8 +199,11 @@ void djiInit(void) */ uint32_t waitNewDji() { - return osEventFlagsWait( - eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever); + // return osEventFlagsWait( + // eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever); + return osThreadFlagsWait( + EVENT_CAN, osFlagsWaitAll, osWaitForever); + } #endif diff --git a/User/device/vofa.c b/User/device/vofa.c index 5d06c50..2a044de 100644 --- a/User/device/vofa.c +++ b/User/device/vofa.c @@ -32,11 +32,11 @@ void vofa_tx_main(float *data) //用dma用不了 //HAL_UART_Transmit_DMA(&huart6, ( uint8_t *)fdata, sizeof(fdata)); - HAL_UART_Transmit(&huart6, ( uint8_t *)fdata, sizeof(fdata),0xFFFF); //发送第一组数据 + HAL_UART_Transmit(&huart1, ( uint8_t *)fdata, sizeof(fdata),0xFFFF); //发送第一组数据 osDelay(1); //HAL_UART_Transmit_DMA(&huart6, tail, 4); - HAL_UART_Transmit(&huart6, tail, 4,0xFFFF); //发送第二组数据 - osDelay(1); + HAL_UART_Transmit(&huart1, tail, 4,0xFFFF); //发送第二组数据 + osDelay(1); //用虚拟串口c板开启不了 // CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); diff --git a/User/device/vofa.h b/User/device/vofa.h index 8f83b9a..3f454fd 100644 --- a/User/device/vofa.h +++ b/User/device/vofa.h @@ -1,6 +1,8 @@ #ifndef _VOFA_H_ #define _VOFA_H_ - +#ifdef __cplusplus +extern "C"{ +#endif @@ -12,6 +14,9 @@ void vofa_tx_main(float *data); extern float vofa_send[8]; +#ifdef __cplusplus +} +#endif #endif diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 05bc2ef..d51f707 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -14,7 +14,7 @@ int speedm1=0; #define MOTOR_SPEED 1000 -const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0}; +const fp32 Ball:: M3508_speed_PID[3] = {5, 0.01, 0}; //PE11 气缸 @@ -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, 6000);//pid初始化 + PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 10000);//pid初始化 } result[i] = 0; speedSet[i] = 0; @@ -37,29 +37,25 @@ Ball ::Ball() } +#if HANDLING3 == 1 + 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]); - speedSet[MOTOR_2] = speed2; + speedSet[MOTOR_2] = speed; result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]); - speedSet[MOTOR_3] = speed; + speedSet[MOTOR_3] = speed2; 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]); - - // } - } int flag =0; int ball_state = 0; + void Ball::ballHadling(void) { @@ -71,16 +67,16 @@ void Ball::ballHadling(void) if (key > 0) // 检测按键是否被按下 { speedm=-4500; - speedm1=-3500; + speedm1=-4500; currentState1 = BALL_FORWARD; // 切换到正转状态 } break; case BALL_FORWARD: - 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 ) + if ( hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4530 && + hand_Motor[MOTOR_2]->speed_rpm <= -4480&&hand_Motor[MOTOR_2]->speed_rpm >= -4530 && + hand_Motor[MOTOR_3]->speed_rpm <= -4480&&hand_Motor[MOTOR_3]->speed_rpm >= -4530 ) { 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 @@ -92,8 +88,8 @@ void Ball::ballHadling(void) if (ball_state == 1) //读光电 有球 0 无球 1 { osDelay(200); // 延时200ms - speedm=3000; - speedm1=3000; + speedm=4500; + speedm1=4500; currentState1 = BALL_REVERSE; // 切换到反转状态 } @@ -104,7 +100,7 @@ void Ball::ballHadling(void) if (ball_state == 0) { - flag=2; //抽象的计次 + //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 @@ -113,21 +109,26 @@ void Ball::ballHadling(void) 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 - } + // osDelay(200); // 延时50ms + 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 + } + // 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 + key=0; // 重置按键状态 flag=0; speedm=0; speedm1=0; @@ -144,6 +145,140 @@ void Ball::ballHadling(void) void Ball::Send_control() { CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1); + osDelay(2); } +#else +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: + +// if (key > 0) // 检测按键是否被按下 +// { +// currentState1 = BALL_FORWARD; // 切换到正转状态 + +// } +// break; + +// case BALL_FORWARD: +// HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); +// osDelay(50); +// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); + +// currentState1 = BALL_DROP; // 切换到球下落状态 +// break; + +// case BALL_DROP: +// osDelay(100); // +// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); +// currentState1 = BALL_CLOSE; // 切换到反转状态 +// break; + +// case BALL_CLOSE: +// osDelay(100); +// if(ball_state == 0) +// { +// HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); +// currentState1 = BALL_REVERSE; // 切换到反转状态 +// } + + + +// break; + +// case BALL_REVERSE: +// osDelay(50); // 延时200ms +// HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); +// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); +// key=0; // 重置按键状态 +// currentState1 = BALL_IDLE; // 回到空闲状态 +// break; + +// default: +// currentState1 = BALL_IDLE; // 默认回到空闲状态 +// break; +// } + +// } + int triggerCount = 0; // 光电传感器触发计数 + int last_ball_state = 1; // 上一次的光电状态 +void Ball::ballHadling(void) +{ + + ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态（有球 0，无球 1） + + switch (currentState1) + { + case BALL_IDLE: + HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合 + if (key > 0) // 检测按键是否被按下 + { + key = 0; // 重置按键状态 + triggerCount = 0; // 重置触发计数 + currentState1 = BALL_FORWARD; // 切换到正转状态 + } + break; + + case BALL_FORWARD: + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子 + osDelay(10); + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸 + currentState1 = BALL_DROP; // 切换到球下落状态 + break; + + case BALL_DROP: + osDelay(100); // 延时 100ms + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸 + if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球 + { + //osDelay(10); // 延时去抖动 + triggerCount++; // 增加触发计数 + if (triggerCount == 1) // 第一次触发 + { + currentState1 = BALL_FLAG; // 切换到等待第二次触发状态 + } + } + last_ball_state = ball_state; // 更新上一次的状态 + break; + + case BALL_FLAG: + osDelay(10); // 延时 50ms + if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球 + { + triggerCount++; // 增加触发计数 + currentState1 = BALL_CLOSE; // 切换到闭合气缸状态 + } + last_ball_state = ball_state; // 更新上一次的状态 + break; + + case BALL_CLOSE: + if (triggerCount == 2) // 确保是第二次触发 + { + //osDelay(10); // 延时去抖 + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 闭合气缸爪子 + currentState1 = BALL_REVERSE; // 切换到反转状态 + } + break; + + case BALL_REVERSE: + osDelay(50); // 延时 50ms + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合 + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 + key = 0; // 重置按键状态 + triggerCount = 0; // 重置触发计数 + currentState1 = BALL_IDLE; // 回到空闲状态 + break; + + default: + currentState1 = BALL_IDLE; // 默认回到空闲状态 + break; + } +} + #endif + diff --git a/User/module/ball.hpp b/User/module/ball.hpp index ab4c7b6..d880f97 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -7,12 +7,15 @@ #include "djiMotor.h" #include "pid.h" +#define HANDLING3 0 + // 定义状态枚举 typedef enum { BALL_IDLE, // 空闲状态 BALL_FORWARD, // 正转状态 BALL_DROP, // 球下落状态 BALL_REVERSE, // 反转状态 + BALL_FLAG, BALL_CLOSE, // 关闭状态 BALL_FINISH // 完成状态 } BallState_t; diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index 972153a..a4fadf6 100644 --- a/User/task/ballTask.cpp +++ b/User/task/ballTask.cpp @@ -5,8 +5,10 @@ #include #include "ball.hpp" #include "remote_control.h" +#include "vofa.h" extern RC_ctrl_t rc_ctrl; Ball ball; +float vofa[8]; int abc=0; extern int speedm; @@ -16,8 +18,8 @@ void FunctionBall(void *argument) { (void)argument; /* 未使用argument，消除警告 */ - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL; - uint32_t tick = osKernelGetTickCount(); + // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL; + // uint32_t tick = osKernelGetTickCount(); while(1) { @@ -25,12 +27,22 @@ void FunctionBall(void *argument) task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId()); #endif abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); + //abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin); ball.ballHadling(); // 处理摩擦轮转动 - ball.Spin(speedm,speedm1); - ball.Send_control(); +// speedm=4000; +// speedm1=4000; +// ball.Spin(speedm,speedm1); +// ball.Send_control(); - tick += delay_tick; /* 计算下一个唤醒时刻 */ - osDelayUntil(tick); +// vofa[0] = speedm; // 发送电机角度数据 +// 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_tx_main(vofa); // 发送数据到虚拟串口 + + // tick += delay_tick; /* 计算下一个唤醒时刻 */ + // osDelayUntil(tick); } } diff --git a/User/task/encodeCan.cpp b/User/task/encodeCan.cpp index 261904d..2791a76 100644 --- a/User/task/encodeCan.cpp +++ b/User/task/encodeCan.cpp @@ -15,11 +15,11 @@ void FunctionCan(void *argument) { (void)argument; /* 未使用argument，消除警告 */ - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; + //const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; djiInit(); - uint32_t tick = osKernelGetTickCount(); + //uint32_t tick = osKernelGetTickCount(); while(1) { #ifdef DEBUG @@ -30,7 +30,7 @@ void FunctionCan(void *argument) djiMotorEncode(); can2MotorEncode(); - tick += delay_tick; /* 计算下一个唤醒时刻 */ - osDelayUntil(tick); + // tick += delay_tick; /* 计算下一个唤醒时刻 */ + // osDelayUntil(tick); } } diff --git a/User/task/nucTask.cpp b/User/task/nucTask.cpp index 5f3497a..901a127 100644 --- a/User/task/nucTask.cpp +++ b/User/task/nucTask.cpp @@ -4,6 +4,7 @@ #include "TopDefine.h"//事件组的一些东西 #include "FreeRTOS.h" #include +#include #ifdef DEBUG @@ -21,6 +22,7 @@ void Function_nuc(void *argument) NUC_Init(&cmd_fromnuc); + uint32_t tick = osKernelGetTickCount(); while(1) @@ -31,8 +33,8 @@ void Function_nuc(void *argument) NUC_StartReceiving(); NUC_RawParse(&cmd_fromnuc); - - NUC_SendPacket(&send, sizeof(send)); // 发送数据包 + + //NUC_SendPacket(&send, sizeof(send)); // 发送数据包 //掉线处理有空写 // if(NUC_WaitDmaCplt()) // { diff --git a/User/task/userTask.c b/User/task/userTask.c index 3282ca4..0d66988 100644 --- a/User/task/userTask.c +++ b/User/task/userTask.c @@ -24,7 +24,7 @@ const osThreadAttr_t attr_take = { const osThreadAttr_t attr_can = { .name = "can", .priority = osPriorityRealtime, - .stack_size = 128 * 6, + .stack_size = 128 * 8, }; const osThreadAttr_t attr_rc = { @@ -36,7 +36,7 @@ const osThreadAttr_t attr_rc = { const osThreadAttr_t attr_ball = { .name = "ball", .priority = osPriorityRealtime, - .stack_size = 128 * 4, + .stack_size = 128 * 8, }; const osThreadAttr_t attr_nuc = { .name = "nuc",