#include "ball.hpp"
#include "bsp_delay.h"
#include "remote_control.h"
#include "detect.h"
#include "userTask.h"
#include "user_math.h"
extern RC_ctrl_t rc_ctrl;
extern int key;

// C键 sw[4]👆 200   中1000  👇1800
// D键 sw[5]👆 1800   👇200

#define START 0
#define OUT 100

#if HANDLING3 == 1
//三摩擦轮运球！！！
//添加平移3508 得跑位置吧

const fp32 Ball:: M3508_speed_PID[3] = {15, 0.03, 0};
const fp32 Ball:: Extend_speed_PID[3] = { 25, 0, 0.};
const fp32 Ball:: Extend_angle_PID[3]=  { 60, 0, 0.1};

int speedm=0;
int speedm1=0;
//PE11 气缸

Ball ::Ball()
{  
   detect_init();

 //两个伸缩6020
   Extern_Motor[0] = get_motor_point(6);
   Extern_Motor[1] = get_motor_point(7);

   Extern_Motor[0]->type = GM6020;
   Extern_Motor[1]->type = GM6020;
   PID_init(&extend_speed_pid[0],PID_POSITION,Extend_speed_PID,25000, 2000);
   PID_init(&extend_angle_pid[0],PID_POSITION,Extend_angle_PID,25000, 1000);

   PID_init(&extend_speed_pid[1],PID_POSITION,Extend_speed_PID,25000, 2000);
   PID_init(&extend_angle_pid[1],PID_POSITION,Extend_angle_PID,25000, 1000);

   e_result[0] = 0;
   e_result[1] = 0;
   angleSet[0] = 0;
   angleSet[1] = 0;

 //三摩擦轮
   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, 10000);//pid初始化
    }  
    result[i] = 0;
    speedSet[i] = 0;    
 }


  //状态机状态初始化
  currentState1= BALL_IDLE;


    //   for(int i = 0;i < MOTOR_NUM;i ++)
    // {
    //  //摩擦轮滤波器初始化
    //  LowPassFilter2p_Init(filter.in + i , 500,
    //     -1.0f);
    //  LowPassFilter2p_Init(filter.out + i, 500,
    //     -1.0f);   
    // }

}

void  Ball :: Filter_init(float target_freq)
{
    for(int i = 0;i < MOTOR_NUM;i ++)
    {
     //摩擦轮滤波器初始化
     LowPassFilter2p_Init(filter.in + i , target_freq,
        -1.0f);
     LowPassFilter2p_Init(filter.out + i, target_freq,
        -1.0f);   
    }
}

void Ball ::Extend_control(int angle)
{
    int16_t delta[2];
    angleSet[0] = angle;
    angleSet[1] = -angle;

    delta[0] = PID_calc(&extend_angle_pid[0],Extern_Motor[0]->total_angle , angleSet[0]);
    e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]);

    delta[1] = PID_calc(&extend_angle_pid[1], Extern_Motor[1]->total_angle , angleSet[1]);
    e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]);

    // delta[1] = PID_calc(&extend_angle_pid, angle_get[1], angleSet[1]);
    // e_result[1] = PID_calc(&extend_speed_pid, Extern_Motor[1]->speed_rpm, delta[1]);

    // angle_get[0]=motor_angle_change(Extern_Motor[0]->real_round, angleSet[0]);
    // angle_get[1]=motor_angle_change(Extern_Motor[1]->real_round, angleSet[1]);


    // delta[0] = PID_calc(&extend_angle_pid, angle_get[0], angleSet[0]);
    // e_result[0] = PID_calc(&extend_speed_pid, Extern_Motor[0]->speed_rpm, delta[0]);

    // delta[1] = PID_calc(&extend_angle_pid, angle_get[1], angleSet[1]);
    // e_result[1] = PID_calc(&extend_speed_pid, Extern_Motor[1]->speed_rpm, delta[1]);




}

// void Ball ::Extend_control(int angle)
// {
//     int16_t delta;
//     angleSet = angle;

//     delta = PID_calc(&extend_angle_pid, Extern_Motor->total_angle, angleSet);
//     e_result = PID_calc(&extend_speed_pid, Extern_Motor->speed_rpm, delta);

// }


void Ball ::Spin(float speed)
{

    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] = speed;
    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]);

}

void Ball::ballDown(void)
{
     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
     speedm=-500;

}

void Ball::ballStop(void)
{
     speedm=0;

}

int ball_have = 0;
void Ball::ballTake(void)
{
    ball_have=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);//有球 1 无球 0
      HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
      speedm=2000;
      if(ball_have==1)
      {
          speedm=0;
          HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸
      }
}



	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 1 无球 0
    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
        if (rc_ctrl.sw[4] > 1000||key > 0) // 检测按键是否被按下,自动回弹的
        {
            speedm=-4000;
            currentState1 = BALL_FORWARD; // 切换到正转状态
        }
        break;

    case BALL_FORWARD:

        if (  hand_Motor[MOTOR_1]->speed_rpm >= 3980&&hand_Motor[MOTOR_1]->speed_rpm <= 4020 &&
              hand_Motor[MOTOR_2]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4020 &&          
              hand_Motor[MOTOR_3]->speed_rpm <= -3980&&hand_Motor[MOTOR_3]->speed_rpm >= -4020 )
        {
            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 == 0) //读光电 有球 1  无球 0
        {
            osDelay(200); // 延时200ms
            speedm=3500;
            currentState1 = BALL_REVERSE; // 切换到反转状态
        }
        
        break;

    case BALL_REVERSE:
       
        if (ball_state == 1) 
        {
            
            speedm=0; // 停止电机
            currentState1 = BALL_CLOSE; // 切换到完成状态
        }
     
     break;

    case BALL_CLOSE:
       // osDelay(200); // 延时50ms
       if(ball_state == 1)
       {
           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;
        osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
        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);
    osDelay(1);

    CAN_cmd_1FF(0,0,e_result[0],e_result[1],&hcan1);
    osDelay(2);

}

#else

 int ball_state = 0;
 int triggerCount = 0; // 光电传感器触发计数
 int last_ball_state = 1; // 上一次的光电状态
void Ball::ballHadling(void)
{
  
    ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态（有球 0，无球 1）

    switch (currentState1)
    {
    case BALL_IDLE:
        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合
        if (key > 0) // 检测按键是否被按下
        {
            key = 0; // 重置按键状态
            triggerCount = 0; // 重置触发计数
            currentState1 = BALL_FORWARD; // 切换到正转状态
        }
        break;

    case BALL_FORWARD:
        HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
        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;

        case BALL_DROP:
        osDelay(100); // 延时 100ms
        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
        if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
        {
            //osDelay(10); // 延时去抖动
            triggerCount++; // 增加触发计数
            if (triggerCount == 1) // 第一次触发
            {
                currentState1 = BALL_FLAG; // 切换到等待第二次触发状态
            }
        }
        last_ball_state = ball_state; // 更新上一次的状态
        break;

        case BALL_FLAG:
        osDelay(10); // 延时 50ms
        if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
        {
            triggerCount++; // 增加触发计数
            currentState1 = BALL_CLOSE; // 切换到闭合气缸状态
        }
        last_ball_state = ball_state; // 更新上一次的状态
        break;

    case BALL_CLOSE:
        if (triggerCount == 2) // 确保是第二次触发
        {
            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
        }
        break;

    case BALL_REVERSE:
        osDelay(50); // 延时 50ms
        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
        key = 0; // 重置按键状态
        triggerCount = 0; // 重置触发计数
        currentState1 = BALL_IDLE; // 回到空闲状态
        break;

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