139 lines
3.2 KiB
C++
139 lines
3.2 KiB
C++
#include "ball.hpp"
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#include "bsp_delay.h"
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#include "remote_control.h"
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#include "detect.h"
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extern RC_ctrl_t rc_ctrl;
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extern int key;
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// 定义状态机变量
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BallState_t currentState1 = BALL_IDLE; // 当前状态
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uint32_t startTime = 0; // 用于记录延时的起始时间
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int speedm=0;
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#define MOTOR_SPEED 1000
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const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0};
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//PE11 气缸
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//三摩擦轮运球！！！
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Ball ::Ball()
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{
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detect_init();
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for(int i = 0;i < MOTOR_NUM;i ++)
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{
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hand_Motor[i] = get_motor_point(i);
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if(i <=3)
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{
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hand_Motor[i]->type = M3508;//设置电机类型
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PID_init(&speed_pid[i],PID_POSITION,M3508_speed_PID,16000, 6000);//pid初始化
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}
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result[i] = 0;
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speedSet[i] = 0;
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}
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}
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void Ball ::Spin(float speed)
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{
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speedSet[MOTOR_1] = -speed;
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result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
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for(int i = 1;i < MOTOR_NUM;i ++)
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{
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speedSet[i] = speed;
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result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
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}
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}
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int flag =0;
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int ball_state = 0;
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void Ball::ballHadling(void)
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{
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ball_state =HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);//有球 0 无球 1
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switch (currentState1)
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{
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case BALL_IDLE:
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
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if (key > 0) // 检测按键是否被按下
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{
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speedm=-4000;
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currentState1 = BALL_FORWARD; // 切换到正转状态
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}
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break;
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case BALL_FORWARD:
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if ( hand_Motor[MOTOR_1]->speed_rpm > 3980&&hand_Motor[MOTOR_1]->speed_rpm <= 4010&&
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hand_Motor[MOTOR_2]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010&&
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hand_Motor[MOTOR_3]->speed_rpm <= -3980&&hand_Motor[MOTOR_2]->speed_rpm >= -4010 )
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{
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);// 打开气缸
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currentState1 = BALL_DROP; // 切换到球下落状态
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}
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break;
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case BALL_DROP:
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if (ball_state == 1)
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{
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osDelay(200); // 延时50ms
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speedm=2500;
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currentState1 = BALL_REVERSE; // 切换到反转状态
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}
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break;
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case BALL_REVERSE:
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if (ball_state == 0)
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{
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flag=2;
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speedm=0;
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currentState1 = BALL_CLOSE; // 切换到完成状态
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}
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break;
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case BALL_CLOSE:
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osDelay(200); // 延时50ms
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if (flag == 2)
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{
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if(ball_state == 0)
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{
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
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currentState1 = BALL_FINISH; // 切换到完成状态
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}
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}
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break;
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case BALL_FINISH:
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osDelay(200); // 延时50ms
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key = 0; // 重置按键状态
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flag=0;
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speedm=0;
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currentState1 = BALL_IDLE; // 回到空闲状态
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break;
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default:
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currentState1 = BALL_IDLE; // 默认回到空闲状态
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break;
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}
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}
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void Ball::Send_control()
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{
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CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
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}
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