137 lines
3.1 KiB
C++
137 lines
3.1 KiB
C++
#include "TopDefine.h"
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#include "shoot.hpp"
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#include "main.h"
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#include "remote_control.h"
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#include "FreeRTOS.h"
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#include <cmsis_os2.h>
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#include "calc_lib.h"
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extern RC_ctrl_t rc_ctrl;
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#define SHOOT_SPEED 40000
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#define SHOOT_SPEED_BACK -2000
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#define STOP 0
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#define Trigger 3000
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const fp32 Shoot:: M2006_speed_PID[3] = {5, 0.01, 0};
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int t=0;
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Shoot::Shoot()
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{
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//扳机初始化
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trigger_Motor= get_motor_point(4);
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trigger_Motor->type=M3508;
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PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,16000, 10000);//pid初始化
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speedSet = 0;
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result = 0;
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//发射摩擦轮
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motor_5065[0] = get_vesc_point(0);//获取电机数据指针
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motor_5065[1] = get_vesc_point(1);//获取电机数据指针
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speed_5065=0;
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currentState= SHOOT_IDLE;
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}
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void Shoot::trigger_spin()
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{
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if(t>0)
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{
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speedSet=Trigger;
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if(trigger_Motor->speed_rpm<5)
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{
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speedSet=-Trigger;
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}
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}
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}
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void Shoot::shootThree()
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{
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if((rc_ctrl.sw[1]>500))
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{
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speed_5065 = SHOOT_SPEED;
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}
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else
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{
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speed_5065=STOP;
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}
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if(rc_ctrl.sw[5]==1694)
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{
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speed_5065=SHOOT_SPEED_BACK;
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}
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CAN_VESC_Control(1,speed_5065,&hcan2);
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// CAN_VESC_RPM(1, speed_5065);
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// CAN_VESC_RPM(2, speed_5065);
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}
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void Shoot::shootBack()
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{
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if(rc_ctrl.sw[5]==1694)
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{
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CAN_VESC_RPM(1, SHOOT_SPEED_BACK);
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CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
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}
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}
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void Shoot::shootStop()
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{
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CAN_VESC_HEAD(1);
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CAN_VESC_HEAD(2);
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}
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void Shoot::shootStateMachine() {
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switch (currentState) {
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case SHOOT_IDLE: {
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// 空闲状态，等待遥控器输入
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if (rc_ctrl.sw[1] > 500) {
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currentState = SHOOT_FIRE; // 切换到发射状态
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}
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break;
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}
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case SHOOT_FIRE: {
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// 发射状态，控制电机发射
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speed_5065 = map((float)rc_ctrl.sw[1], 500, 1694, 30000, 45000);
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CAN_VESC_RPM(1, speed_5065);
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CAN_VESC_RPM(2, speed_5065);
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// 检测光电传感器是否触发
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if (IS_PHOTOELECTRIC_TRIGGERED()) {
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currentState = SHOOT_TRIGGERED; // 切换到光电触发状态
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}
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break;
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}
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case SHOOT_TRIGGERED: {
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// 光电触发状态，停止发射
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CAN_VESC_HEAD(1);
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CAN_VESC_HEAD(2);
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// 切换到返回状态
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currentState = SHOOT_RETURN;
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break;
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}
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case SHOOT_RETURN: {
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// 自动返回状态，控制电机反转
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CAN_VESC_RPM(1, SHOOT_SPEED_BACK);
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CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
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// 检测返回完成（可以通过时间或其他传感器判断）
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if (rc_ctrl.sw[1] < 500) { // 假设遥控器开关控制返回完成
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currentState = SHOOT_IDLE; // 切换回空闲状态
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}
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break;
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}
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default: {
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// 默认状态，回到空闲
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currentState = SHOOT_IDLE;
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break;
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}
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}
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}
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