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abaca03ecc
...
f0931e76d2
Author | SHA1 | Date | |
---|---|---|---|
f0931e76d2 | |||
9d073a0da2 |
16
.mxproject
16
.mxproject
File diff suppressed because one or more lines are too long
@ -57,7 +57,7 @@ void MX_DMA_Init(void)
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||||
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
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/* DMA2_Stream5_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 0, 0);
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HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
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}
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|
@ -69,7 +69,7 @@ void MX_GPIO_Init(void)
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = ext_up_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(ext_up_GPIO_Port, &GPIO_InitStruct);
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@ -279,16 +279,16 @@ void USART1_IRQHandler(void)
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/**
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* @brief This function handles USART3 global interrupt.
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*/
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// void USART3_IRQHandler(void)
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// {
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// /* USER CODE BEGIN USART3_IRQn 0 */
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//void USART3_IRQHandler(void)
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//{
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// /* USER CODE BEGIN USART3_IRQn 0 */
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// /* USER CODE END USART3_IRQn 0 */
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// HAL_UART_IRQHandler(&huart3);
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// /* USER CODE BEGIN USART3_IRQn 1 */
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// /* USER CODE END USART3_IRQn 0 */
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// HAL_UART_IRQHandler(&huart3);
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// /* USER CODE BEGIN USART3_IRQn 1 */
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// /* USER CODE END USART3_IRQn 1 */
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// }
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// /* USER CODE END USART3_IRQn 1 */
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//}
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/**
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* @brief This function handles DMA2 stream1 global interrupt.
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|
36
MDK-ARM/.vscode/c_cpp_properties.json
vendored
36
MDK-ARM/.vscode/c_cpp_properties.json
vendored
@ -3,26 +3,26 @@
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{
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||||
"name": "R1-shooter",
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"includePath": [
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"d:\\Desktop\\r1\\Core\\Inc",
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"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
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"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
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"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
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"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
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"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
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"d:\\Desktop\\r1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
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"d:\\Desktop\\r1\\Drivers\\CMSIS\\Include",
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"d:\\Desktop\\r1\\User\\bsp",
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"d:\\Desktop\\r1\\User\\module",
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"d:\\Desktop\\r1\\User\\task",
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"d:\\Desktop\\r1\\User\\lib",
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"d:\\Desktop\\r1\\User\\device",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device",
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"D:\\keil\\ARM\\ARMCC\\include",
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"D:\\keil\\ARM\\ARMCC\\include\\rw",
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"d:\\Desktop\\r1\\MDK-ARM",
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"d:\\Desktop\\r1\\Core\\Src",
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"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
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"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
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"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
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"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
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],
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"defines": [
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"USE_HAL_DRIVER",
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|
16
MDK-ARM/.vscode/keil-assistant.log
vendored
16
MDK-ARM/.vscode/keil-assistant.log
vendored
@ -6,3 +6,19 @@
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[info] Log at : 2025/4/11|11:30:04|GMT+0800
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[info] Log at : 2025/4/12|15:24:41|GMT+0800
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[info] Log at : 2025/4/12|16:54:05|GMT+0800
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[info] Log at : 2025/4/12|20:08:54|GMT+0800
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[info] Log at : 2025/4/13|14:54:26|GMT+0800
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[info] Log at : 2025/4/13|20:47:22|GMT+0800
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[info] Log at : 2025/4/14|21:15:31|GMT+0800
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[info] Log at : 2025/4/14|22:54:52|GMT+0800
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||||
[info] Log at : 2025/4/16|16:20:32|GMT+0800
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||||
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||||
|
4
MDK-ARM/.vscode/settings.json
vendored
4
MDK-ARM/.vscode/settings.json
vendored
@ -7,6 +7,8 @@
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"detect.h": "c",
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"usertask.h": "c",
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"task.h": "c",
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"djimotor.h": "c"
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"djimotor.h": "c",
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"nuc.h": "c",
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"crc_ccitt.h": "c"
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}
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}
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6
MDK-ARM/.vscode/uv4.log
vendored
6
MDK-ARM/.vscode/uv4.log
vendored
@ -1,8 +1,4 @@
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
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Build target 'R1-shooter'
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compiling encodeCan.cpp...
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linking...
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Program Size: Code=27336 RO-data=1776 RW-data=244 ZI-data=22764
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FromELF: creating hex file...
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"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
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||||
Build Time Elapsed: 00:00:03
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Build Time Elapsed: 00:00:01
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||||
|
2
MDK-ARM/.vscode/uv4.log.lock
vendored
2
MDK-ARM/.vscode/uv4.log.lock
vendored
@ -1 +1 @@
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||||
2025/4/11 17:42:35
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2025/4/13 22:09:19
|
@ -153,27 +153,77 @@
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||||
<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>abc,0x0A</ItemText>
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<ItemText>rc_ctrl,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>rc_ctrl,0x0A</ItemText>
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<ItemText>aaa,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>aaa,0x0A</ItemText>
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<ItemText>key,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>key,0x0A</ItemText>
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<ItemText>task_struct,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>task_struct,0x0A</ItemText>
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<ItemText>gimbal,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>angle1,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>k,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>ball,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>cnt1,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>9</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd_fromnuc</ItemText>
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</Ww>
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<Ww>
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<count>10</count>
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<WinNumber>1</WinNumber>
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<ItemText>nucbuf</ItemText>
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</Ww>
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<Ww>
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<count>11</count>
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<WinNumber>1</WinNumber>
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<ItemText>nucData</ItemText>
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</Ww>
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<Ww>
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<count>12</count>
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<WinNumber>1</WinNumber>
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<ItemText>send,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>13</count>
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<WinNumber>1</WinNumber>
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<ItemText>speed1,0x0A</ItemText>
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</Ww>
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<Ww>
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||||
<count>14</count>
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<WinNumber>1</WinNumber>
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<ItemText>abc,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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@ -1010,7 +1060,7 @@
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<Group>
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<GroupName>User/task</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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@ -154,7 +154,7 @@ NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream5_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
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NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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@ -291,8 +291,9 @@ PI6.GPIOParameters=GPIO_Label
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PI6.GPIO_Label=up-ball
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PI6.Locked=true
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PI6.Signal=GPIO_Input
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PI7.GPIOParameters=GPIO_Label
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PI7.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
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PI7.GPIO_Label=ext-up
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PI7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
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PI7.Locked=true
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PI7.Signal=GPXTI7
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PinOutPanel.CurrentBGAView=Top
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|
16
README.md
16
README.md
@ -1,3 +1,17 @@
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# r1upper
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r1上层
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r1上层
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## 外设
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//PE9 刹车光电
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//PE11 接球气缸
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//PE13 爪子气缸
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//PE14 下球气缸
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//PC6 接球光电
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//PI6 运球光电
|
@ -13,7 +13,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
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return BSP_UART_DR16;
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else if (huart->Instance == USART1)
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return BSP_UART_REF;
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else if (huart->Instance == USART6)
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else if (huart->Instance == USART1)
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return BSP_UART_AI;
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/*
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else if (huart->Instance == USARTX)
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|
@ -7,7 +7,7 @@ int key=0;
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void detect_exit(void)
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{
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delay_ms(10); // 延时10ms
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delay_ms(100); // 延时10ms
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key++; // 按键按下时变量自增
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__HAL_GPIO_EXTI_CLEAR_IT(KEY_Pin); // 清除中断标志位
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}
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|
@ -9,7 +9,8 @@ DEVICE_OK = 0,
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DEVICE_ERR = -1,
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DEVICE_ERR_NULL = -2,
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DEVICE_ERR_INITED = -3,
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DEVICE_ERR_NO_DEV = -4
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DEVICE_ERR_NO_DEV = -4,
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DEVICE_ERR_OVERFLOW = -5,
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}device_status_e;
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/*
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SIGNAL是有bit位置区分的,一个SIGNAL只能包含一个高bit位。
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|
@ -78,9 +78,7 @@
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#if DEBUG == 1
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//电机回传数据结构体
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motor_measure_t motor_chassis[5];
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motor_measure_t GM6020_motor[2];
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motor_measure_t motor_2006[2];
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motor_measure_t motor_chassis[10];
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CAN_MotorFeedback_t motor_5065[2];
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#else
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static motor_measure_t motor_chassis[5];
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@ -299,25 +297,7 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
|
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{
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return &motor_chassis[i];
|
||||
}
|
||||
/**
|
||||
* @brief 返回GM6020电机数据指针
|
||||
* @param[in] i: 电机编号
|
||||
* @retval 电机数据指针
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||||
*/
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||||
motor_measure_t *get_6020_motor_point(uint8_t i)
|
||||
{
|
||||
return &GM6020_motor[i];
|
||||
}
|
||||
/**
|
||||
* @brief 返回M2006电机数据指针
|
||||
* @param[in] i: 电机编号
|
||||
* @retval 电机数据指针
|
||||
*/
|
||||
motor_measure_t *get_2006_motor_point(uint8_t i)
|
||||
{
|
||||
return &motor_2006[i];
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 限制vesc电机转速
|
||||
* @param[in/out] rpm: vesce电机转速
|
||||
|
@ -133,22 +133,6 @@ extern void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_Hand
|
||||
*/
|
||||
extern motor_measure_t *get_motor_point(uint8_t i);
|
||||
|
||||
/**
|
||||
* @brief 返回GM6020电机数据指针
|
||||
* @param[in] i: 电机编号
|
||||
* @retval 电机数据指针
|
||||
*/
|
||||
motor_measure_t *get_6020_motor_point(uint8_t i);
|
||||
|
||||
/**
|
||||
* @brief 返回M2006电机数据指针
|
||||
* @param[in] i: 电机编号
|
||||
* @retval 电机数据指针
|
||||
*/
|
||||
motor_measure_t *get_2006_motor_point(uint8_t i);
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief 数据处理函数
|
||||
* @param[in] none
|
||||
|
@ -3,6 +3,7 @@
|
||||
#include "crc_ccitt.h"
|
||||
|
||||
uint8_t nucbuf[32];
|
||||
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
|
||||
|
||||
static void NUC_IdleCallback(void) {
|
||||
// osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
|
||||
@ -39,6 +40,33 @@ bool_t NUC_WaitDmaCplt(void) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
int8_t NUC_SendPacket(void *data, uint16_t length) {
|
||||
if (data == NULL || length == 0) {
|
||||
return DEVICE_ERR_NULL; // 数据为空或长度为 0
|
||||
}
|
||||
|
||||
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
|
||||
if (length + 5 > sizeof(packet)) { // 帧头 + 帧类型 + 数据 + CRC + 帧尾
|
||||
return DEVICE_ERR_OVERFLOW; // 数据包长度超出限制
|
||||
}
|
||||
|
||||
// 构建数据包
|
||||
packet[0] = HEAD; // 帧头
|
||||
packet[1] = SEND; // 发送帧类型
|
||||
memcpy(&packet[2], data, length); // 数据内容
|
||||
uint16_t crc = do_crc_table(data, length); // 计算 CRC 校验
|
||||
packet[length + 2] = (crc >> 8) & 0xFF; // CRC 高字节
|
||||
packet[length + 3] = crc & 0xFF; // CRC 低字节
|
||||
packet[length + 4] = TAIL; // 帧尾
|
||||
|
||||
// 发送数据包
|
||||
if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_AI), packet, length + 5, HAL_MAX_DELAY) != HAL_OK) {
|
||||
return DEVICE_ERR; // 发送失败
|
||||
}
|
||||
|
||||
return DEVICE_OK; // 发送成功
|
||||
}
|
||||
|
||||
int8_t NUC_RawParse(NUC_t *n) {
|
||||
if (n == NULL) return DEVICE_ERR_NULL;
|
||||
union {
|
||||
|
@ -15,6 +15,7 @@ extern "C" {
|
||||
#define ODOM (0x04)
|
||||
#define PICK (0x06)
|
||||
#define VISION (0x09)
|
||||
#define SEND (0X07)
|
||||
|
||||
// 写结构体存入视觉信息
|
||||
typedef struct {
|
||||
@ -38,6 +39,7 @@ int8_t NUC_Restart(void);
|
||||
bool_t NUC_WaitDmaCplt(void);
|
||||
int8_t NUC_RawParse(NUC_t *n);
|
||||
int8_t NUC_HandleOffline(NUC_t *cmd);
|
||||
int8_t NUC_SendPacket(void *data, uint16_t length);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
@ -4,137 +4,87 @@
|
||||
#include "detect.h"
|
||||
|
||||
extern RC_ctrl_t rc_ctrl;
|
||||
#define KP 0.8
|
||||
#define KD 0.008
|
||||
//PE9 刹车光电
|
||||
//PE11 接球气缸
|
||||
//PE13 爪子气缸
|
||||
//PE14 下球气缸
|
||||
//PC6 接球光电
|
||||
//PI6 运球光电
|
||||
extern int key;
|
||||
|
||||
int aaa=0;
|
||||
// 定义状态机变量
|
||||
BallState_t currentBallState = BALL_IDLE;
|
||||
|
||||
#define MOTOR_SPEED 1000
|
||||
|
||||
const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0};
|
||||
|
||||
//三摩擦轮运球!!!
|
||||
|
||||
Ball ::Ball()
|
||||
{
|
||||
aaa=10;
|
||||
//ballState =HAL_GPIO_ReadPin(in_ball_GPIO_Port, in_ball_Pin);
|
||||
detect_init();
|
||||
|
||||
}
|
||||
|
||||
void Ball ::ballCatch(void)
|
||||
{
|
||||
|
||||
if(rc_ctrl.ch[1]>=300)
|
||||
{
|
||||
detect_init();
|
||||
for(int i = 0;i < MOTOR_NUM;i ++)
|
||||
{
|
||||
hand_Motor[i] = get_motor_point(i);
|
||||
if(i <=3)
|
||||
{
|
||||
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//收网
|
||||
}
|
||||
else if(rc_ctrl.ch[1]<300)
|
||||
{
|
||||
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//放网
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
result[i] = 0;
|
||||
speedSet[i] = 0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Ball ::ballFlow(void)
|
||||
void Ball ::Spin(float speed)
|
||||
{
|
||||
GO_M8010_send_data(&huart6, 1,0,0,angleSet[1],0.5,KP,KD);
|
||||
}
|
||||
|
||||
void Ball ::ballZero(void)
|
||||
{
|
||||
GO_M8010_send_data(&huart6, 1,0,0,0,0,0,0);
|
||||
}
|
||||
speedSet[MOTOR_1] = -speed;
|
||||
result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
|
||||
|
||||
void Ball ::ballHadling(void)
|
||||
{
|
||||
if(rc_ctrl.sw[0]==306)
|
||||
for(int i = 1;i < MOTOR_NUM;i ++)
|
||||
{
|
||||
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET);//爪子气缸 开爪
|
||||
osDelay(200);
|
||||
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);//下球气缸 打出
|
||||
osDelay(500);
|
||||
angleSet[1] = 2;
|
||||
ballFlow();
|
||||
speedSet[i] = speed;
|
||||
result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
|
||||
|
||||
}
|
||||
else
|
||||
|
||||
CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
|
||||
osDelay(1);
|
||||
|
||||
}
|
||||
|
||||
void Ball::ballHadling(void)
|
||||
{
|
||||
if (key > 0) // 检测按键是否被按下
|
||||
{
|
||||
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET);//爪子气缸 关爪
|
||||
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);//下球气缸 打入
|
||||
angleSet[1] = 0;
|
||||
ballFlow();
|
||||
if (key % 2 == 1) // key 为奇数,摩擦轮正转
|
||||
{
|
||||
Spin(5000); // 正转
|
||||
}
|
||||
else if (key % 2 == 0) // key 为偶数,摩擦轮反转
|
||||
{
|
||||
Spin(-5000); // 反转
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Ball::ballStateMachine() {
|
||||
switch (currentBallState) {
|
||||
case BALL_IDLE: {
|
||||
// 空闲状态,等待遥控器输入
|
||||
if (rc_ctrl.sw[0] == 306) { // 假设遥控器开关控制开始运球
|
||||
// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 收网
|
||||
// osDelay(200); // 等待收网完成
|
||||
currentBallState = BALL_RELEASE; // 切换到下球气缸弹出状态
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
// void Ball::ballHadling(void)
|
||||
// {
|
||||
// static bool isReversed = false; // 静态变量,记录当前摩擦轮状态,初始为正转
|
||||
|
||||
case BALL_RELEASE: {
|
||||
// 下球气缸弹出,爪子张开
|
||||
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 下球气缸弹出
|
||||
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 爪子张开
|
||||
osDelay(200); // 等待动作完成
|
||||
currentBallState = BALL_JOINT_REVERSE; // 切换到关节电机反转状态
|
||||
break;
|
||||
}
|
||||
// if (key > 0) // 检测按键是否被按下
|
||||
// {
|
||||
// key = 0; // 重置按键状态,防止重复触发
|
||||
|
||||
case BALL_JOINT_REVERSE: {
|
||||
// 关节电机反转置水平位置
|
||||
angleSet[1] = 2; // 设置关节电机目标角度为水平位置
|
||||
ballFlow(); // 控制关节电机动作
|
||||
osDelay(500); // 等待电机动作完成
|
||||
currentBallState = BALL_FALLING; // 切换到球加速落下状态
|
||||
break;
|
||||
}
|
||||
|
||||
case BALL_FALLING: {
|
||||
// 球加速落下,等待光电检测
|
||||
if (IS_PHOTOELECTRIC_BALL()) {
|
||||
currentBallState = BALL_WAIT_BOUNCE; // 切换到等待反弹状态
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case BALL_WAIT_BOUNCE: {
|
||||
// 等待光电检测反弹
|
||||
osDelay(50); // 简单延时,避免误触发
|
||||
if (IS_PHOTOELECTRIC_BALL()) {
|
||||
currentBallState = BALL_NET_CLOSE; // 切换到收网状态
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case BALL_NET_CLOSE: {
|
||||
// 收网状态
|
||||
// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 收网
|
||||
// osDelay(200); // 等待收网完成
|
||||
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 关闭爪子
|
||||
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 下球气缸复位
|
||||
angleSet[1] = 1; // 关节电机复位
|
||||
ballFlow();
|
||||
currentBallState = BALL_IDLE; // 切换回空闲状态
|
||||
break;
|
||||
}
|
||||
|
||||
default: {
|
||||
|
||||
currentBallState = BALL_IDLE; // 默认回到空闲状态
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
// if (isReversed)
|
||||
// {
|
||||
// // 当前为反转,切换为正转
|
||||
// Spin(MOTOR_SPEED); // 正转
|
||||
// isReversed = false;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// // 当前为正转,切换为反转
|
||||
// Spin(-MOTOR_SPEED); // 反转
|
||||
// isReversed = true;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
@ -4,7 +4,8 @@
|
||||
#include "cmsis_os.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "bsp_delay.h"
|
||||
#include "GO_M8010_6_Driver.h"
|
||||
#include "djiMotor.h"
|
||||
#include "pid.h"
|
||||
|
||||
// 定义状态枚举
|
||||
typedef enum {
|
||||
@ -16,6 +17,15 @@ typedef enum {
|
||||
BALL_NET_CLOSE // 收网状态
|
||||
} BallState_t;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
MOTOR_1 = 0,
|
||||
MOTOR_2 = 1,
|
||||
MOTOR_3 = 2,
|
||||
MOTOR_DOWN = 3,
|
||||
MOTOR_NUM
|
||||
}motorhangd_e;
|
||||
|
||||
// 定义光电传感器检测宏
|
||||
#define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)
|
||||
|
||||
@ -23,23 +33,27 @@ class Ball
|
||||
{
|
||||
public:
|
||||
Ball();
|
||||
|
||||
void Spin(float speed);
|
||||
void ballHadling(void);
|
||||
void ballCatch(void);
|
||||
void ballFlow(void);
|
||||
void ballStop(void);
|
||||
void ballZero(void);
|
||||
void ballStateMachine(void);
|
||||
int ballState; //球状态 0:无球 1:有球
|
||||
|
||||
int16_t result[MOTOR_NUM];
|
||||
|
||||
private:
|
||||
//int ballState; //球状态 0:无球 1:有球
|
||||
|
||||
int up_ball_state; //上球状态 0:无球 1:有球
|
||||
GO_Motorfield *goData[GO_NUM]; //电机数据指针
|
||||
float angleSet[GO_NUM]; //电机目标角度
|
||||
float offestAngle[GO_NUM]; //电机初始角度
|
||||
float Kp; //比例系数
|
||||
float Kd; //微分系数
|
||||
float allowRange; //可活动角度
|
||||
motor_measure_t *hand_Motor[MOTOR_NUM];
|
||||
//三个摩擦轮
|
||||
static const float M3508_speed_PID[3];
|
||||
static const float M3508_angle_PID[3];
|
||||
|
||||
//电机速度pid结构体
|
||||
pid_type_def speed_pid[MOTOR_NUM];
|
||||
//位置环pid
|
||||
pid_type_def angle_pid[MOTOR_NUM];
|
||||
|
||||
float angleSet;
|
||||
float speedSet[MOTOR_NUM];
|
||||
};
|
||||
|
||||
#endif
|
||||
|
@ -10,8 +10,58 @@
|
||||
//可活动角度
|
||||
#define ANGLE_ALLOW 1.0f
|
||||
extern RC_ctrl_t rc_ctrl;
|
||||
|
||||
int angle1 = 0;
|
||||
NUC_t nuc;
|
||||
|
||||
const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1, 0};
|
||||
const fp32 Gimbal:: Gimbal_angle_PID[3]= { 5, 0.01, 0};
|
||||
|
||||
#if GM6020ING ==1
|
||||
Gimbal::Gimbal()
|
||||
{
|
||||
GM6020_Motor = get_motor_point(6);
|
||||
GM6020_Motor->type = GM6020;
|
||||
PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
|
||||
PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
|
||||
|
||||
result = 0;
|
||||
angleSet = 0;
|
||||
|
||||
}
|
||||
|
||||
void Gimbal::gimbalFlow()
|
||||
{
|
||||
int16_t delta[1];
|
||||
angleSet = angle1;
|
||||
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
|
||||
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
|
||||
|
||||
CAN_cmd_1FF(0,0,result,0,&hcan1);
|
||||
osDelay(1);
|
||||
|
||||
}
|
||||
|
||||
void Gimbal::gimbalZero()
|
||||
{
|
||||
angleSet=0;
|
||||
//gimbalFlow();
|
||||
|
||||
}
|
||||
|
||||
void Gimbal::gimbalVision(const NUC_t &nuc)
|
||||
{
|
||||
int16_t delta[1];
|
||||
angleSet = nuc.vision.x;
|
||||
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
|
||||
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
|
||||
|
||||
CAN_cmd_1FF(0,0,result,0,&hcan1);
|
||||
osDelay(1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
#else
|
||||
Gimbal::Gimbal()
|
||||
{
|
||||
|
||||
@ -60,3 +110,5 @@ void Gimbal::gimbalVision(const NUC_t &nuc)
|
||||
GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
|
||||
osDelay(1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
@ -2,8 +2,11 @@
|
||||
#define GIMBAL_HPP
|
||||
|
||||
#include "GO_M8010_6_Driver.h"
|
||||
#include "djiMotor.h"
|
||||
#include "pid.h"
|
||||
#include "nuc.h"
|
||||
|
||||
#define GM6020ING 1
|
||||
class Gimbal
|
||||
{
|
||||
public:
|
||||
@ -11,17 +14,31 @@ public:
|
||||
void gimbalFlow(void);//云台随遥控器转动
|
||||
void gimbalZero(void);//云台零阻尼模式
|
||||
void gimbalInit(void);//go初始化
|
||||
//void gimbalVision(void);//云台视觉模式
|
||||
void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
|
||||
|
||||
int16_t result;
|
||||
//暂存要发送的扭矩
|
||||
//float result[GO_NUM];
|
||||
// float Kp;
|
||||
// float Kd;
|
||||
private:
|
||||
// //电机速度pid结构体
|
||||
// pid_type_def speed_pid[GO_NUM];
|
||||
// //位置环pid
|
||||
// pid_type_def angle_pid[GO_NUM];
|
||||
|
||||
#if GM6020ING == 1
|
||||
//GM6020电机数据
|
||||
motor_measure_t *GM6020_Motor;
|
||||
|
||||
static const float Gimbal_speed_PID[3];
|
||||
static const float Gimbal_angle_PID[3];
|
||||
|
||||
//电机速度pid结构体
|
||||
pid_type_def speed_pid;
|
||||
//位置环pid
|
||||
pid_type_def angle_pid;
|
||||
|
||||
float angleSet;
|
||||
|
||||
#else
|
||||
motor_measure_t *motorData[GO_NUM];
|
||||
//视觉发送的要调的角度
|
||||
float self_angleSet;
|
||||
GO_Motorfield* goData[GO_NUM];
|
||||
@ -31,6 +48,8 @@ private:
|
||||
float Kp;
|
||||
float Kd;
|
||||
float allowRange;
|
||||
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
@ -9,16 +9,13 @@ extern RC_ctrl_t rc_ctrl;
|
||||
Ball ball;
|
||||
int abc=0;
|
||||
int c30=0;
|
||||
int speed1=500;
|
||||
|
||||
void FunctionBall(void *argument)
|
||||
{
|
||||
(void)argument; /* 未使用argument,消除警告 */
|
||||
|
||||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
|
||||
|
||||
ball.ballZero();
|
||||
ball.ballState=abc;
|
||||
|
||||
uint32_t tick = osKernelGetTickCount();
|
||||
|
||||
while(1)
|
||||
@ -26,14 +23,9 @@ void FunctionBall(void *argument)
|
||||
#ifdef DEBUG
|
||||
task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());
|
||||
#endif
|
||||
abc++;
|
||||
c30=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
|
||||
|
||||
|
||||
ball.ballHadling();
|
||||
ball.ballStateMachine();
|
||||
ball.ballCatch();
|
||||
|
||||
abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
|
||||
ball.ballHadling(); // 处理摩擦轮转动
|
||||
// ball.Spin(speed1);
|
||||
osDelay(3);
|
||||
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
|
@ -24,7 +24,7 @@ void FunctionCan(void *argument)
|
||||
{
|
||||
#ifdef DEBUG
|
||||
task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());
|
||||
task_struct.freq.can = osKernelGetTickFreq() / (osKernelGetTickCount() - tick);
|
||||
|
||||
#endif
|
||||
waitNewDji();
|
||||
djiMotorEncode();
|
||||
|
@ -10,6 +10,7 @@
|
||||
Gimbal gimbal;
|
||||
NUC_t nucData; // 用于存储从队列接收的数据
|
||||
extern RC_ctrl_t rc_ctrl;
|
||||
int cnt1=0;
|
||||
|
||||
void FunctionGimbal(void *argument)
|
||||
{
|
||||
@ -17,9 +18,6 @@ void FunctionGimbal(void *argument)
|
||||
|
||||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
|
||||
|
||||
HAL_Delay(500);
|
||||
gimbal.gimbalInit();
|
||||
gimbal.gimbalZero();
|
||||
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
|
||||
|
||||
uint32_t tick = osKernelGetTickCount();
|
||||
@ -28,16 +26,18 @@ void FunctionGimbal(void *argument)
|
||||
{
|
||||
#ifdef DEBUG
|
||||
task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());
|
||||
#endif
|
||||
#endif
|
||||
|
||||
cnt1++;
|
||||
|
||||
// gimbal.gimbalFlow();
|
||||
// 从消息队列接收视觉数据
|
||||
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
|
||||
{
|
||||
// 使用接收到的视觉数据调整云台
|
||||
gimbal.gimbalVision(nucData);
|
||||
}
|
||||
|
||||
gimbal.gimbalZero();
|
||||
gimbal.gimbalFlow();
|
||||
|
||||
osDelay(1);
|
||||
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
|
@ -8,6 +8,8 @@
|
||||
#ifdef DEBUG
|
||||
|
||||
NUC_t cmd_fromnuc;
|
||||
//int send[3]={1,2,3};
|
||||
float send[3]={1,2,3};
|
||||
|
||||
#endif
|
||||
|
||||
@ -30,6 +32,8 @@ void Function_nuc(void *argument)
|
||||
|
||||
NUC_RawParse(&cmd_fromnuc);
|
||||
|
||||
NUC_SendPacket(&send, sizeof(send)); // 发送数据包
|
||||
//掉线处理有空写
|
||||
// if(NUC_WaitDmaCplt())
|
||||
// {
|
||||
// NUC_RawParse(&cmd_fromnuc);
|
||||
|
@ -24,16 +24,16 @@ while(1)
|
||||
{
|
||||
#ifdef DEBUG
|
||||
task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());
|
||||
#endif
|
||||
k++;
|
||||
#endif
|
||||
|
||||
k++;
|
||||
shoot.shootThree();
|
||||
shoot.shootBack();
|
||||
//shoot.shootStateMachine();
|
||||
osDelay(2);
|
||||
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
osDelayUntil(tick);
|
||||
osDelay(2);
|
||||
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
osDelayUntil(tick);
|
||||
|
||||
}
|
||||
}
|
||||
|
Loading…
Reference in New Issue
Block a user