From 83a9c93e16cda2574639c18401eab5519a2391af Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Fri, 14 Mar 2025 23:57:48 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A6=BB=E5=90=88=E5=88=9D=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/settings.json | 4 +++- MDK-ARM/.vscode/uv4.log | 13 +++-------- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/mycode1.uvoptx | 22 +++++------------- User/task/dji_task.c | 43 ++++++++++++++++++++++++++--------- User/task/dji_task.h | 3 +++ User/task/shoot_task.c | 35 ++++++++++++++++++++-------- 7 files changed, 73 insertions(+), 49 deletions(-) diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index c5bcc85..d95f9ca 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -17,6 +17,8 @@ "shoot.h": "c", "dji.h": "c", "calc_lib.h": "c", - "odrive_shoot.h": "c" + "odrive_shoot.h": "c", + "remote_control.h": "c", + "dji_task.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 202c86c..9bf04b8 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,10 +1,3 @@ -*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' -Build target 'mycode1' -compiling read_spi.c... -compiling odrive_shoot.c... -compiling shoot_task.c... -linking... -Program Size: Code=26528 RO-data=1904 RW-data=280 ZI-data=22496 -FromELF: creating hex file... -"mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:03 +Load "mycode1\\mycode1.axf" +Erase Done.Programming Done.Verify OK.Application running ... +Flash Load finished at 22:03:22 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index f7c9ebe..9e7cf59 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/3/14 20:41:26 \ No newline at end of file +2025/3/14 22:03:23 \ No newline at end of file diff --git a/MDK-ARM/mycode1.uvoptx b/MDK-ARM/mycode1.uvoptx index 84f2bfa..1dfa59f 100644 --- a/MDK-ARM/mycode1.uvoptx +++ b/MDK-ARM/mycode1.uvoptx @@ -208,37 +208,27 @@ 11 1 - angleo,0x0A + encoder,0x0A 12 1 - shoot + mode,0x0A 13 1 - multi_turn_angle,0x0A + m 14 1 - angle_encoder + trigger_motor_data,0x0A 15 1 - back_angle,0x0A - - - 16 - 1 - encoder,0x0A - - - 17 - 1 - angles + trigger_angle_o @@ -322,7 +312,7 @@ Application/User/Core - 1 + 0 0 0 0 diff --git a/User/task/dji_task.c b/User/task/dji_task.c index 7540029..1ffb213 100644 --- a/User/task/dji_task.c +++ b/User/task/dji_task.c @@ -5,22 +5,26 @@ #include #include "remote_control.h" #include "dji.h" +#include "read_spi.h" #include "vofa.h" + extern RC_mess_t RC_mess; extern int16_t result; extern int16_t t_result; -extern motor_measure_t *motor_3508_data; +extern motor_measure_t *trigger_motor_data; +Encoder_t encoder; float vofa[8]; + +int speed=0; +float m=0; +float trigger_angle_o=0; +int mode=0; /** * \brief 电机任务 * * \param argument 未使用 */ - -int speed=0; -float angle=0; -float m; void Task_Motor(void *argument) { (void)argument; /* 未使用argument，消除警告 */ @@ -28,6 +32,7 @@ void Task_Motor(void *argument) const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS; motor_init(); + Encoder_Init(&encoder); uint32_t tick = osKernelGetTickCount(); @@ -35,12 +40,28 @@ void Task_Motor(void *argument) { //收到消息队列新数据 - //电机控制 - //motor_speed(speed); - m=angle*(8191/360); - // motor_pos(m); - trigger_pos(m); - //CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1); + // 更新编码器数据 + Update_Encoder(&encoder); + m=trigger_angle_o*(8191/360); + if( mode == THREE ) + { + //当最高点时进入离合 + if(encoder.round_cnt>=8) + { + trigger_angle_o=-1; + trigger_pos(m); + } + + } + else if( mode == DZ ) + { + //退出离合 + trigger_angle_o=0; + trigger_pos(m); + + } + + CAN_cmd_200(t_result,0,0,0,&hcan1); osDelay(2); diff --git a/User/task/dji_task.h b/User/task/dji_task.h index 76d9383..c574ca9 100644 --- a/User/task/dji_task.h +++ b/User/task/dji_task.h @@ -2,4 +2,7 @@ #define _DJI_TASK_H_ +#define THREE 3 +#define DZ 0 + #endif diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c index cc70c62..b01558a 100644 --- a/User/task/shoot_task.c +++ b/User/task/shoot_task.c @@ -7,20 +7,27 @@ #include "shoot.h" #include "odrive_shoot.h" #include "read_spi.h" +#include "dji_task.h" extern RC_mess_t RC_mess; -Encoder_t encoder; -double angles; -int32_t rounds; -int angleo = 0; //发射角度 +extern Encoder_t encoder; +extern motor_measure_t *trigger_motor_data;//3508电机数据 +extern int mode; + #define GO1_SHOOT 0 #define ODRIVE_SHOOT 1 +//odrive发射 +#define SHOOT3 12 +#define TOP 8 +#define MIDDLE 4 +#define BOTTOM 0 + void Task_Shoot(void *argument) { (void)argument; /* 未使用argument，消除警告 */ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; - Encoder_Init(&encoder); + #if GO1_SHOOT == 1 shooterInit(); #endif @@ -34,12 +41,20 @@ void Task_Shoot(void *argument) shoot_ball(0); #elif ODRIVE_SHOOT == 1 - shootStep(); - //shoot_odrive(angleo); - #endif - // 更新编码器数据 - Update_Encoder(&encoder); + if(mode == THREE) + { + shoot_odrive(SHOOT3); + } + else if(mode == DZ) + { + if(trigger_motor_data->total_angle ==0)//扳机已闭合 + { + shoot_odrive(BOTTOM); + } + + } + #endif tick += delay_tick; /* 计算下一个唤醒时刻 */ osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */ }