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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

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
+            osDelay(100); // 延时200ms
-            speedm=4500;
+            speedm=2500;
-            speedm1=4500;
+            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:
@@ -227,7 +218,7 @@ void Ball::ballHadling(void)
 
     case BALL_FORWARD:
         HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
-        osDelay(10); 
+        osDelay(5); 
         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;
@@ -260,7 +251,7 @@ void Ball::ballHadling(void)
     case BALL_CLOSE:
         if (triggerCount == 2) // 确保是第二次触发
         {
-            //osDelay(10); // 延时去抖
+            osDelay(100); // 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
         }

User/module/ball.hpp

@@ -7,7 +7,7 @@
 #include "djiMotor.h"
 #include "pid.h"
 
-#define HANDLING3  0
+#define HANDLING3  1
 
 // 定义状态枚举
 typedef enum {

User/task/ballTask.cpp

@@ -18,8 +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;
+    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
-    // uint32_t tick = osKernelGetTickCount();
+    uint32_t tick = osKernelGetTickCount();
 		
     while(1)
     {
@@ -30,19 +30,20 @@ void FunctionBall(void *argument)
        //abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
 
        ball.ballHadling(); // 处理摩擦轮转动
-//			speedm=4000;
+      ball.Spin(speedm,speedm1);
-//			speedm1=4000;
+      ball.Send_control();
-//       ball.Spin(speedm,speedm1);
-//       ball.Send_control();
 
-//       vofa[0] = speedm; // 发送电机角度数据
+      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[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[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[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
 
-//       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);
-        // tick += delay_tick; /* 计算下一个唤醒时刻 */
-        // osDelayUntil(tick);
     }
 }

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 */
+        tick += delay_tick; /* 计算下一个唤醒时刻 */
-        // osDelayUntil(tick);
+        osDelayUntil(tick);
     }
 }

User/task/userTask.c

@@ -15,23 +15,12 @@ const osThreadAttr_t  attr_gimbal = {
     .stack_size = 128 * 4,
 };
 
-const osThreadAttr_t attr_take = {
-    .name = "take",
-    .priority = osPriorityRealtime,
-    .stack_size = 128 * 4,
-};
-
 const osThreadAttr_t attr_can = {
     .name = "can",
     .priority = osPriorityRealtime,
-    .stack_size = 128 * 8,
+    .stack_size = 256 * 4,
 };
 
-const osThreadAttr_t attr_rc = {
-    .name = "rc",
-    .priority = osPriorityRealtime,
-    .stack_size = 128 * 8,
-};
 
 const osThreadAttr_t attr_ball = {
     .name = "ball",
@@ -41,7 +30,7 @@ const osThreadAttr_t attr_ball = {
 const osThreadAttr_t attr_nuc = {
     .name = "nuc",
     .priority = osPriorityRealtime,
-    .stack_size = 256 * 4,
+    .stack_size = 128 * 4,
 };
 
 

User/task/userTask.h

@@ -13,16 +13,13 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 
 /* 所有任务都要define一个“任务运行频率”和“初始化延时” */
-#define TASK_FREQ_CTRL_CHASSIS (500u)
+#define TASK_FREQ_CTRL_GIMBAL (250u)
-#define TASK_FREQ_CTRL_GIMBAL (500u)
 #define TASK_FREQ_CTRL_SHOOT (500u)
-#define TASK_FREQ_CTRL_CAP (100u)
 #define TASK_FREQ_CTRL_COMMAND (500u)
-#define TASK_FREQ_INFO (4u)
 #define TASK_FREQ_MONITOR (2u)
-#define TASK_FREQ_CAN (500u)
+#define TASK_FREQ_CAN (1500u)
 #define TASK_FREQ_AI (500u)
-#define TASK_FREQ_BALL (250u)
+#define TASK_FREQ_BALL (500u)
 
 #define TASK_INIT_DELAY_INFO (500u)
 #define TASK_INIT_DELAY_MONITOR (10)
@@ -42,11 +39,11 @@ typedef struct
     struct
     {
         osThreadId_t can;
-        osThreadId_t rc;
+        //osThreadId_t rc;
         osThreadId_t nuc;
         osThreadId_t shoot;
         osThreadId_t gimbal;
-        osThreadId_t handling;
+        //osThreadId_t handling;
         osThreadId_t ball;
 
     }thread;
@@ -67,32 +64,32 @@ typedef struct
     #ifdef DEBUG
     struct {
         UBaseType_t can;
-        UBaseType_t rc;
+        //UBaseType_t rc;
         UBaseType_t nuc;
         UBaseType_t shoot;
         UBaseType_t gimbal;
-        UBaseType_t handling;
+        //UBaseType_t handling;
         UBaseType_t ball;
 
     } stack_water_mark; /* stack使用 */
 
     struct {
         float can;
-        float rc;
+        //float rc;
         float nuc;
         float shoot;
         float gimbal;
-        float handling;
+        //float handling;
         float ball;
     } freq; /* 任务运行频率 */
 
     struct {
         float can;
-        float rc;
+        //float rc;
         float nuc;
         float shoot;
         float gimbal;
-        float handling;
+        //float handling;
         float ball;
     } last_up_time; /* 任务最近运行时 */
 #endif
@@ -103,9 +100,7 @@ typedef struct
 extern task_t task_struct; /* 任务结构体实例化 */
 extern const osThreadAttr_t attr_shoot;
 extern const osThreadAttr_t attr_gimbal;
-extern const osThreadAttr_t attr_take;
 extern const osThreadAttr_t attr_can;
-extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_ball;
 extern const osThreadAttr_t attr_nuc;
 extern const osEventFlagsAttr_t attr_event;