#include "ball.hpp"
#include "bsp_delay.h"
#include "remote_control.h"
#include "detect.h"

extern RC_ctrl_t rc_ctrl;
extern int key;

// 定义状态机变量
BallState_t currentState1 = BALL_IDLE; // 当前状态
uint32_t startTime = 0;             // 用于记录延时的起始时间
int speedm=0;
int speedm1=0;

#define MOTOR_SPEED 1000

const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0};

//PE11 气缸

//三摩擦轮运球！！！

Ball ::Ball()
{  
   detect_init();
   for(int i = 0;i < MOTOR_NUM;i ++)
 {
    hand_Motor[i] = get_motor_point(i);  
    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, 6000);//pid初始化
    }  
    result[i] = 0;
    speedSet[i] = 0;    
 }
     
}

void Ball ::Spin(float speed,float speed2)
{

    speedSet[MOTOR_1] = -speed;
    result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);

    speedSet[MOTOR_2] = speed2;
    result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]);

    speedSet[MOTOR_3] = speed;
    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 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:
       HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸
        if (key > 0) // 检测按键是否被按下
        {
            speedm=-4500;
            speedm1=-3500;
            currentState1 = BALL_FORWARD; // 切换到正转状态
        }
        break;

    case BALL_FORWARD:

        if (  hand_Motor[MOTOR_1]->speed_rpm >= 4480&&hand_Motor[MOTOR_1]->speed_rpm <= 4520 &&
              hand_Motor[MOTOR_2]->speed_rpm <= -2980-500&&hand_Motor[MOTOR_2]->speed_rpm >= -3020-500 &&          
              hand_Motor[MOTOR_3]->speed_rpm <= -4480&&hand_Motor[MOTOR_3]->speed_rpm >= -4020-1000 )
        {
            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
        }
        break;

    case BALL_DROP:

        if (ball_state == 1) //读光电 有球 0  无球 1
        {
            osDelay(200); // 延时200ms
            speedm=3000;
            speedm1=3000;
            currentState1 = BALL_REVERSE; // 切换到反转状态
        }
        
        break;

    case BALL_REVERSE:
       
        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
        }
     
     break;

    case BALL_CLOSE:
        osDelay(200); // 延时50ms
        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:
        osDelay(200); // 延时50ms
        key = 0; // 重置按键状态
        flag=0;
        speedm=0;
        speedm1=0;
        currentState1 = BALL_IDLE; // 回到空闲状态
        break;

    default:
       currentState1 = BALL_IDLE; // 默认回到空闲状态
        break;
    }

}

void Ball::Send_control()
{
    CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);

}