61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
#ifndef BALL_HPP
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#define BALL_HPP
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#include "main.h"
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#include "cmsis_os.h"
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#include "FreeRTOS.h"
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#include "bsp_delay.h"
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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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BALL_IDLE, // 空闲状态
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BALL_FORWARD, // 正转状态
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BALL_DROP, // 球下落状态
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BALL_REVERSE, // 反转状态
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BALL_CLOSE, // 关闭状态
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BALL_FINISH // 完成状态
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} BallState_t;
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typedef enum
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{
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MOTOR_1 = 0,
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MOTOR_2 = 1,
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MOTOR_3 = 2,
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MOTOR_DOWN = 3,
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MOTOR_NUM
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}motorhangd_e;
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// 定义光电传感器检测宏
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#define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)
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class Ball
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{
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public:
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Ball();
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void Spin(float speed);
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void ballHadling(void);
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void Send_control(void);
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void ballStateMachine(void);
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int16_t result[MOTOR_NUM];
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motor_measure_t *hand_Motor[MOTOR_NUM];
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private:
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int up_ball_state; //上球状态 0:无球 1:有球
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//三个摩擦轮
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static const float M3508_speed_PID[3];
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static const float M3508_angle_PID[3];
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//电机速度pid结构体
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pid_type_def speed_pid[MOTOR_NUM];
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//位置环pid
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pid_type_def angle_pid[MOTOR_NUM];
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float angleSet;
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float speedSet[MOTOR_NUM];
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};
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#endif
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