61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
#ifndef SHOOT_HPP
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#define SHOOT_HPP
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#include "djiMotor.h"
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#include "pid.h"
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// 定义状态枚举
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typedef enum {
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SHOOT_IDLE, // 空闲状态
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SHOOT_FIRE, // 发射状态
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SHOOT_BACK, // 光电触发状态
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SHOOT_RETURN // 自动返回状态
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} ShootState_t;
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// 定义状态枚举
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typedef enum {
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BALL_IDLE, // 空闲状态
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BALL_FINISH, // 完成状态
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//持球状态
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BALL_TAKE,
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BALL_LOSE
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} BallState_t;
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// 光电传感器读取宏
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#define IS_PHOTOELECTRIC_TRIGGERED() (HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin) == GPIO_PIN_RESET)
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class Shoot
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{
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public:
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Shoot();
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void shootThree(void);
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void shootStop(void);
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void shootBack(void);
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void shootStateMachine(void);
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void trigger_control(void);
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float speed_5065;
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float speed_trigger;
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ShootState_t currentState;
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int16_t result;
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//暂时放在公共,task里使用
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CAN_MotorFeedback_t *motor_5065[2];
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//==========================公共变量==========================
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volatile BallState_t ballStatus;//是否有球
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volatile uint32_t flag_thread;//接收传回的线程通知
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private:
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//扳机2006
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static const float M2006_speed_PID[3];
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//电机速度pid结构体
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pid_type_def speed_pid;
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motor_measure_t *trigger_Motor;
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float speedSet;
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};
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#endif
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