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merge into: RoboDuoduo:气缸运球
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RoboDuoduo:main
RoboDuoduo:气缸运球
RoboDuoduo:初版
RoboDuoduo:小米伸缩运球
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pull from: RoboDuoduo:main
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RoboDuoduo:气缸运球
RoboDuoduo:初版
RoboDuoduo:小米伸缩运球
RoboDuoduo:main

2 Commits
气缸运球 ... main

Author SHA1 Message Date
ws
aa232e9862 ？ 2025-04-30 13:20:30 +08:00
ws
2cebb50876 三摩擦速度问题暂时没有了，不知道上了发射后会不会抽搐 2025-04-28 19:23:08 +08:00
7 changed files with 41 additions and 65 deletions
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2
User/device/djiMotor.c
View File

@ -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

21
User/module/ball.cpp
View File

@ -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:
@ -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
}

2
User/module/ball.hpp
View File

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

27
User/task/ballTask.cpp
View File

@ -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;
// uint32_t tick = osKernelGetTickCount();
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
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;
// speedm1=4000;
// ball.Spin(speedm,speedm1);
// ball.Send_control();
ball.Spin(speedm,speedm1);
ball.Send_control();
// 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[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[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);
}
}

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 */
//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);
}
}

15
User/task/userTask.c
View File

@ -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,
};

27
User/task/userTask.h
View File

@ -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 (500u)
#define TASK_FREQ_CTRL_GIMBAL (250u)
#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;