78 lines
1.6 KiB
C++
78 lines
1.6 KiB
C++
#ifndef TAKE_HPP
|
||
#define TAKE_HPP
|
||
#include "djiMotor.h"
|
||
#include "pid.h"
|
||
|
||
typedef enum
|
||
{
|
||
//上下3508顶端
|
||
POINT_TOP = -2280,
|
||
//上下3508暂停点
|
||
POINT_MID = -1720,
|
||
//上下3508取球点
|
||
POINT_BUTTOM = 0,
|
||
//前后2006取球点
|
||
POINT_TAKE = -730,
|
||
//前后2006放球点
|
||
POINT_PUT = 0,
|
||
//翻转3508放球点
|
||
POINT_TURN_LEFT = -350,
|
||
POINT_TURN_RIGHT = 350,
|
||
POINT_TURN_ZERO = 0,
|
||
//归零死区，没有柔性控制，防止堵转
|
||
POINT_DEAD = 5,
|
||
|
||
}point_e;//存放位置宏定义
|
||
|
||
typedef enum
|
||
{
|
||
MOTOR_UP = 0,
|
||
MOTOR_TURN = 1,
|
||
MOTOR_RING_RIGHT = 2,
|
||
MOTOR_RING_LEFT = 3,
|
||
MOTOR_NUM
|
||
}motorput_e;
|
||
|
||
class Take
|
||
{
|
||
public:
|
||
Take();
|
||
//下降到取球点
|
||
void fall();
|
||
void mid();//平常停在中间
|
||
void top();
|
||
void putRight();
|
||
void putLeft();
|
||
void takeRight();
|
||
void takeLeft();
|
||
void left();
|
||
void right();
|
||
void turnMid();
|
||
void turnFlow();
|
||
//暂存要发送的电流
|
||
int16_t result[MOTOR_NUM];
|
||
|
||
//电机状态
|
||
|
||
private:
|
||
motor_measure_t* putMotor[MOTOR_NUM];
|
||
//上下3508pid
|
||
static const float TakeRing_speed_PID[3];
|
||
static const float TakeRing_angle_PID[3];
|
||
//翻转3508pid
|
||
static const float M3508_speed_PID[3];
|
||
static const float M3508_angle_PID[3];
|
||
//前后与夹球2006pid
|
||
static const float Turn_speed_PID[3];
|
||
static const float Turn_angle_PID[3];
|
||
//电机速度pid结构体
|
||
pid_type_def speed_pid[MOTOR_NUM];
|
||
//位置环pid
|
||
pid_type_def angle_pid[MOTOR_NUM];
|
||
//暂存目标位置
|
||
//0上下，1翻转，2前后，3夹球
|
||
float angleSet[MOTOR_NUM];
|
||
};
|
||
|
||
#endif
|