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运球上车前都ok了

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This commit is contained in:
ws 2025-04-26 17:45:08 +08:00
parent e26c0c3aae
commit ec3771a1a2
19 changed files with 312 additions and 66 deletions
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9
.gitignore vendored
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@ -99,3 +99,12 @@ JLinkLog.txt
# Other Files # Other Files
# Log files
*.log
*.log.lock
# JSON files
*.json
# uVision Options
*.uvoptx

2
Core/Src/gpio.c
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@ -121,7 +121,7 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin : PtPin */ /*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = STOP_Pin; GPIO_InitStruct.Pin = STOP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(STOP_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(STOP_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */ /*Configure GPIO pin : PtPin */

32
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -22,3 +22,35 @@
[info] Log at : 2025/4/16|16:20:32|GMT+0800 [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

4
MDK-ARM/.vscode/settings.json vendored
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@ -9,6 +9,8 @@
"task.h": "c", "task.h": "c",
"djimotor.h": "c", "djimotor.h": "c",
"nuc.h": "c", "nuc.h": "c",
"crc_ccitt.h": "c" "crc_ccitt.h": "c",
"functional": "cpp",
"vofa.h": "c"
} }
} }

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,4 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1-shooter' 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). "R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:01 Build Time Elapsed: 00:00:03

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/4/13 22:09:19 2025/4/26 16:32:18

30
MDK-ARM/R1-shooter.uvoptx
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@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel> <nTsel>3</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -114,9 +114,14 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key> <Key>ARMRTXEVENTFLAGS</Key>
@ -135,7 +140,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name> <Name></Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -145,7 +150,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key> <Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-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)</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint/> <Breakpoint/>
@ -218,22 +223,22 @@
<Ww> <Ww>
<count>13</count> <count>13</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText> <ItemText>\\R1_shooter\../User/task/ballTask.cpp\ball,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>14</count> <count>14</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>\\R1_shooter\../User/task/ballTask.cpp\ball,0x0A</ItemText> <ItemText>currentState1</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>15</count> <count>15</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>speedm,0x0A</ItemText> <ItemText>abc,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>16</count> <count>16</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText> <ItemText>ball_state,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>17</count> <count>17</count>
@ -243,7 +248,12 @@
<Ww> <Ww>
<count>18</count> <count>18</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>ball_state,0x0A</ItemText> <ItemText>triggerCount,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>last_ball_state,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2> <WatchWindow2>
@ -261,7 +271,7 @@
<periodic>1</periodic> <periodic>1</periodic>
<aLwin>1</aLwin> <aLwin>1</aLwin>
<aCover>0</aCover> <aCover>0</aCover>
<aSer1>0</aSer1> <aSer1>1</aSer1>
<aSer2>0</aSer2> <aSer2>0</aSer2>
<aPa>0</aPa> <aPa>0</aPa>
<viewmode>1</viewmode> <viewmode>1</viewmode>

2
R1-shooter.ioc
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@ -260,7 +260,7 @@ PE14.Locked=true
PE14.Signal=GPIO_Output PE14.Signal=GPIO_Output
PE9.GPIOParameters=GPIO_PuPd,GPIO_Label PE9.GPIOParameters=GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=STOP PE9.GPIO_Label=STOP
PE9.GPIO_PuPd=GPIO_PULLUP PE9.GPIO_PuPd=GPIO_PULLDOWN
PE9.Locked=true PE9.Locked=true
PE9.Signal=GPIO_Input PE9.Signal=GPIO_Input
PF6.GPIOParameters=GPIO_Speed,GPIO_Label PF6.GPIOParameters=GPIO_Speed,GPIO_Label

27
User/bsp/can_init.c
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@ -32,3 +32,30 @@ void can_filter_init(void)
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); 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);
// }

2
User/device/detect.c
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@ -24,7 +24,7 @@ void detect_init(void)
{ {
BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit); 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 // 注册按键中断回调函数
if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) { if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) {
// 错误处理 // 错误处理

13
User/device/djiMotor.c
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@ -160,6 +160,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
} }
#else #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 * @brief 自定义大疆电机回调函数
* @param[in] none * @param[in] none
@ -169,8 +170,8 @@ void Dji_Motor_CB()
{ {
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data); HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
osThreadFlagsSet(thread_alert, EVENT_CAN);
osEventFlagsSet(eventReceive, EVENT_CAN); // osEventFlagsSet(eventReceive, EVENT_CAN);
} }
void can2_Motor_CB(void) void can2_Motor_CB(void)
{ {
@ -184,6 +185,7 @@ void can2_Motor_CB(void)
*/ */
void djiInit(void) void djiInit(void)
{ {
thread_alert = osThreadGetId();
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
Dji_Motor_CB); Dji_Motor_CB);
BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@ -197,8 +199,11 @@ void djiInit(void)
*/ */
uint32_t waitNewDji() uint32_t waitNewDji()
{ {
return osEventFlagsWait( // return osEventFlagsWait(
eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever); // eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
return osThreadFlagsWait(
EVENT_CAN, osFlagsWaitAll, osWaitForever);
} }
#endif #endif

6
User/device/vofa.c
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@ -32,11 +32,11 @@ void vofa_tx_main(float *data)
//用dma用不了 //用dma用不了
//HAL_UART_Transmit_DMA(&huart6, ( uint8_t *)fdata, sizeof(fdata)); //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); osDelay(1);
//HAL_UART_Transmit_DMA(&huart6, tail, 4); //HAL_UART_Transmit_DMA(&huart6, tail, 4);
HAL_UART_Transmit(&huart6, tail, 4,0xFFFF); //发送第二组数据 HAL_UART_Transmit(&huart1, tail, 4,0xFFFF); //发送第二组数据
osDelay(1); osDelay(1);
//用虚拟串口c板开启不了 //用虚拟串口c板开启不了
// CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); // CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata));

7
User/device/vofa.h
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@ -1,6 +1,8 @@
#ifndef _VOFA_H_ #ifndef _VOFA_H_
#define _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]; extern float vofa_send[8];
#ifdef __cplusplus
}
#endif
#endif #endif

191
User/module/ball.cpp
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@ -14,7 +14,7 @@ int speedm1=0;
#define MOTOR_SPEED 1000 #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 //PE11 气缸
@ -29,7 +29,7 @@ Ball ::Ball()
if(i <=3) if(i <=3)
{ {
hand_Motor[i]->type = M3508;//设置电机类型 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; result[i] = 0;
speedSet[i] = 0; speedSet[i] = 0;
@ -37,29 +37,25 @@ Ball ::Ball()
} }
#if HANDLING3 == 1
void Ball ::Spin(float speed,float speed2) void Ball ::Spin(float speed,float speed2)
{ {
speedSet[MOTOR_1] = -speed; speedSet[MOTOR_1] = -speed;
result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]); 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]); 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]); 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 flag =0;
int ball_state = 0; int ball_state = 0;
void Ball::ballHadling(void) void Ball::ballHadling(void)
{ {
@ -71,16 +67,16 @@ void Ball::ballHadling(void)
if (key > 0) // 检测按键是否被按下 if (key > 0) // 检测按键是否被按下
{ {
speedm=-4500; speedm=-4500;
speedm1=-3500; speedm1=-4500;
currentState1 = BALL_FORWARD; // 切换到正转状态 currentState1 = BALL_FORWARD; // 切换到正转状态
} }
break; break;
case BALL_FORWARD: case BALL_FORWARD:
if ( hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4520 && if ( hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4530 &&
hand_Motor[MOTOR_2]->speed_rpm <= -2980-500&&hand_Motor[MOTOR_2]->speed_rpm >= -3020-500 && 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 >= -4020-1000 ) 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 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 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 if (ball_state == 1) //读光电 有球 0 无球 1
{ {
osDelay(200); // 延时200ms osDelay(200); // 延时200ms
speedm=3000; speedm=4500;
speedm1=3000; speedm1=4500;
currentState1 = BALL_REVERSE; // 切换到反转状态 currentState1 = BALL_REVERSE; // 切换到反转状态
} }
@ -104,7 +100,7 @@ void Ball::ballHadling(void)
if (ball_state == 0) if (ball_state == 0)
{ {
flag=2; //抽象的计次 //flag=2; //抽象的计次
speedm=0; // 停止电机 speedm=0; // 停止电机
speedm1=0; speedm1=0;
currentState1 = BALL_CLOSE; // 切换到完成状态 currentState1 = BALL_CLOSE; // 切换到完成状态
@ -113,21 +109,26 @@ void Ball::ballHadling(void)
break; break;
case BALL_CLOSE: case BALL_CLOSE:
osDelay(200); // 延时50ms // osDelay(200); // 延时50ms
if (flag == 2) if(ball_state == 0)
{ {
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
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; break;
case BALL_FINISH: case BALL_FINISH:
osDelay(200); // 延时50ms osDelay(200); // 延时50ms
key = 0; // 重置按键状态 key=0; // 重置按键状态
flag=0; flag=0;
speedm=0; speedm=0;
speedm1=0; speedm1=0;
@ -144,6 +145,140 @@ void Ball::ballHadling(void)
void Ball::Send_control() void Ball::Send_control()
{ {
CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1); 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

3
User/module/ball.hpp
View File

@ -7,12 +7,15 @@
#include "djiMotor.h" #include "djiMotor.h"
#include "pid.h" #include "pid.h"
#define HANDLING3 0
// 定义状态枚举 // 定义状态枚举
typedef enum { typedef enum {
BALL_IDLE, // 空闲状态 BALL_IDLE, // 空闲状态
BALL_FORWARD, // 正转状态 BALL_FORWARD, // 正转状态
BALL_DROP, // 球下落状态 BALL_DROP, // 球下落状态
BALL_REVERSE, // 反转状态 BALL_REVERSE, // 反转状态
BALL_FLAG,
BALL_CLOSE, // 关闭状态 BALL_CLOSE, // 关闭状态
BALL_FINISH // 完成状态 BALL_FINISH // 完成状态
} BallState_t; } BallState_t;

24
User/task/ballTask.cpp
View File

@ -5,8 +5,10 @@
#include <cmsis_os2.h> #include <cmsis_os2.h>
#include "ball.hpp" #include "ball.hpp"
#include "remote_control.h" #include "remote_control.h"
#include "vofa.h"
extern RC_ctrl_t rc_ctrl; extern RC_ctrl_t rc_ctrl;
Ball ball; Ball ball;
float vofa[8];
int abc=0; int abc=0;
extern int speedm; extern int speedm;
@ -16,8 +18,8 @@ void FunctionBall(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL; // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
uint32_t tick = osKernelGetTickCount(); // uint32_t tick = osKernelGetTickCount();
while(1) while(1)
{ {
@ -25,12 +27,22 @@ void FunctionBall(void *argument)
task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId()); task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());
#endif #endif
abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); 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.ballHadling(); // 处理摩擦轮转动
ball.Spin(speedm,speedm1); // speedm=4000;
ball.Send_control(); // speedm1=4000;
// ball.Spin(speedm,speedm1);
// ball.Send_control();
tick += delay_tick; /* 计算下一个唤醒时刻 */ // vofa[0] = speedm; // 发送电机角度数据
osDelayUntil(tick); // 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);
} }
} }

8
User/task/encodeCan.cpp
View File

@ -15,11 +15,11 @@ void FunctionCan(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (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(); djiInit();
uint32_t tick = osKernelGetTickCount(); //uint32_t tick = osKernelGetTickCount();
while(1) while(1)
{ {
#ifdef DEBUG #ifdef DEBUG
@ -30,7 +30,7 @@ void FunctionCan(void *argument)
djiMotorEncode(); djiMotorEncode();
can2MotorEncode(); can2MotorEncode();
tick += delay_tick; /* 计算下一个唤醒时刻 */ // tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); // osDelayUntil(tick);
} }
} }

4
User/task/nucTask.cpp
View File

@ -4,6 +4,7 @@
#include "TopDefine.h"//事件组的一些东西 #include "TopDefine.h"//事件组的一些东西
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include <cmsis_os2.h> #include <cmsis_os2.h>
#include <stdio.h>
#ifdef DEBUG #ifdef DEBUG
@ -21,6 +22,7 @@ void Function_nuc(void *argument)
NUC_Init(&cmd_fromnuc); NUC_Init(&cmd_fromnuc);
uint32_t tick = osKernelGetTickCount(); uint32_t tick = osKernelGetTickCount();
while(1) while(1)
@ -32,7 +34,7 @@ void Function_nuc(void *argument)
NUC_RawParse(&cmd_fromnuc); 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 //掉线处理有空写
// if(NUC_WaitDmaCplt()) // if(NUC_WaitDmaCplt())
// { // {

4
User/task/userTask.c
View File

@ -24,7 +24,7 @@ const osThreadAttr_t attr_take = {
const osThreadAttr_t attr_can = { const osThreadAttr_t attr_can = {
.name = "can", .name = "can",
.priority = osPriorityRealtime, .priority = osPriorityRealtime,
.stack_size = 128 * 6, .stack_size = 128 * 8,
}; };
const osThreadAttr_t attr_rc = { const osThreadAttr_t attr_rc = {
@ -36,7 +36,7 @@ const osThreadAttr_t attr_rc = {
const osThreadAttr_t attr_ball = { const osThreadAttr_t attr_ball = {
.name = "ball", .name = "ball",
.priority = osPriorityRealtime, .priority = osPriorityRealtime,
.stack_size = 128 * 4, .stack_size = 128 * 8,
}; };
const osThreadAttr_t attr_nuc = { const osThreadAttr_t attr_nuc = {
.name = "nuc", .name = "nuc",