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RoboDuoduo:气缸运球
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RoboDuoduo:气缸运球
RoboDuoduo:初版
RoboDuoduo:小米伸缩运球
RoboDuoduo:main

1 Commits
main ... 气缸运球

Author SHA1 Message Date
ws
7f2d2a0856 还可用 2025-06-14 21:04:59 +08:00
10 changed files with 114 additions and 66 deletions
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36
MDK-ARM/.vscode/c_cpp_properties.json vendored
View File

@ -3,26 +3,26 @@
{
"name": "R1-shooter",
"includePath": [
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\bsp",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\module",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\task",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\lib",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\device",
"D:\\keil\\ARM\\ARMCC\\include",
"D:\\keil\\ARM\\ARMCC\\include\\rw",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\MDK-ARM",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
],
"defines": [
"USE_HAL_DRIVER",

28
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,8 +1,30 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1-shooter'
compiling gpio.c...
compiling main.c...
compiling userTask.c...
compiling usart.c...
compiling gimbal.cpp...
compiling shoot.cpp...
compiling remote_control.c...
compiling nuc.c...
compiling user_math.c...
compiling uart_it.c...
compiling motor.cpp...
compiling GO_M8010_6_Driver.c...
compiling djiMotor.c...
..\User\device\djiMotor.c(162): warning: #177-D: variable "eventReceive" was declared but never referenced
static osEventFlagsId_t eventReceive;
..\User\device\djiMotor.c: 1 warning, 0 errors
compiling initTask.c...
compiling ball.cpp...
compiling ballTask.cpp...
compiling encodeCan.cpp...
compiling gimbalTask.cpp...
compiling nucTask.cpp...
compiling shootTask.cpp...
linking...
Program Size: Code=26644 RO-data=1812 RW-data=240 ZI-data=23520
Program Size: Code=26664 RO-data=1812 RW-data=244 ZI-data=23516
FromELF: creating hex file...
"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:03
"R1-shooter\R1-shooter.axf" - 0 Error(s), 1 Warning(s).
Build Time Elapsed: 00:00:24

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/4/26 16:32:18
2025/6/14 13:19:08

8
MDK-ARM/R1-shooter.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>6</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
<Name>(105=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -1041,7 +1041,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

25
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, 1000);//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;
@ -87,9 +87,9 @@ void Ball::ballHadling(void)
if (ball_state == 1) //读光电 有球 0 无球 1
{
osDelay(100); // 延时200ms
speedm=2500;
speedm1=2500;
osDelay(200); // 延时200ms
speedm=4500;
speedm1=4500;
currentState1 = BALL_REVERSE; // 切换到反转状态
}
@ -100,6 +100,7 @@ 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
@ -114,7 +115,15 @@ 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:
@ -208,6 +217,8 @@ void Ball::ballHadling(void)
{
case BALL_IDLE:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合
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
if (key > 0) // 检测按键是否被按下
{
key = 0; // 重置按键状态
@ -218,7 +229,7 @@ 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(5);
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;
@ -251,7 +262,7 @@ void Ball::ballHadling(void)
case BALL_CLOSE:
if (triggerCount == 2) // 确保是第二次触发
{
osDelay(100); // 延时去抖
//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
}

2
User/module/ball.hpp
View File

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

29
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)
{
@ -30,20 +30,19 @@ void FunctionBall(void *argument)
//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();
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[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
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);
// 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 */
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

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

27
User/task/userTask.h
View File

@ -13,13 +13,16 @@ 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_GIMBAL (250u)
#define TASK_FREQ_CTRL_CHASSIS (500u)
#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 (1500u)
#define TASK_FREQ_CAN (500u)
#define TASK_FREQ_AI (500u)
#define TASK_FREQ_BALL (500u)
#define TASK_FREQ_BALL (250u)
#define TASK_INIT_DELAY_INFO (500u)
#define TASK_INIT_DELAY_MONITOR (10)
@ -39,11 +42,11 @@ 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;
@ -64,32 +67,32 @@ 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
@ -100,7 +103,9 @@ 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;