能用

User/device/djiMotor.c

@@ -410,7 +410,7 @@ motor_measure_t *get_2006_motor_point(uint8_t i)
         vesc_send_data[2] = data >> 8 ;
         vesc_send_data[3] = data ;
     
-        HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
+        HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
   }
   
   
@@ -431,5 +431,5 @@ motor_measure_t *get_2006_motor_point(uint8_t i)
         vesc_tx_message.RTR = CAN_RTR_DATA;
         vesc_tx_message.DLC = 0x04;
     
-        HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
+        HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
 }

User/device/djiMotor.h

@@ -88,7 +88,7 @@ typedef struct {
 #define MOTOR_ECD_TO_RAD 0.000766990394f
 #define MOTOR_ECD_TO_ANGLE_6020  (360.0 / 8191.0 )
 
-#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000
+#define wtrcfg_VESC_COMMAND_ERPM_MAX 40000
 #define CAN_VESC_CTRL_ID_BASE (0x300)
 
 #if FREERTOS_DJI == 1

User/module/ball.c

@@ -8,8 +8,8 @@
 // PC6  ball_up_Pin读运球  检测到输出0,未检测到输出1
 // PE13 down_Pin 下推
 // PE14 paw_Pin  爪子
-// PI6 ball_in1_Pin 读接球
-// PI7 ball_in2_Pin 读接球
+// PI6 ball_in2_Pin 读接球
+// PI7 ball_in1_Pin 读接球
 // PE11 key_Pin 收网
 #define ballcome 1
 #define balldown 0
@@ -31,7 +31,7 @@ int pass_ball(void)
 //运球
 void handling_ball(int hand, int angle) 
 {
-    GO_TURN_ball(TURN,go,angle);//停止运球
+   
      int ball_state =0;//有球
      int paw_state =0;//获取爪子开合状态
     if( hand==1)
@@ -40,11 +40,19 @@ void handling_ball(int hand, int angle)
         paw_state =1;//爪子开
      //   osDelay(5);
         HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_RESET);//打出
+        osDelay(500);
+        angle=80;
+        GO_TURN_ball(TURN,go,angle);//停止运球
         ball_state =1;//无球
         osDelay(500);
         HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_SET);//收回
         ball_state =ball_in();//获取爪子有无球状态
     }
+    else if (hand==0)
+    {
+        angle=20;
+        GO_TURN_ball(TURN,go,angle);//停止运球
+    }
     if (paw_state==1&&ball_state==0)
     {
         HAL_GPIO_WritePin(paw_GPIO_Port, paw_Pin, GPIO_PIN_RESET);//爪子合

User/module/shoot.c

@@ -1,14 +1,51 @@
 #include "shoot.h"
 #include "remote_control.h"
 #include "go.h"
-
+#include "calc_lib.h"
 
 extern RC_mess_t RC_mess;
 extern motor_measure_t *trigger_motor_data;//3508电机数据
 extern GO go;
 
+int shoot_flag = 0;
+int speed_5065=0;
+
 #define KP 0.12
 #define KD 0.008
 
+//sw[1] 306--1694
+void control_shoot(void)
+{
 
+    if(RC_mess.RC_data.sw[1]>800)
+      {
+
+        if(HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin) == GPIO_PIN_RESET)
+        {
+          CAN_VESC_HEAD(1);
+          CAN_VESC_HEAD(2);
+        }
+        else 
+        {
+          //speed_5065=5000;
+          speed_5065=map_fp32(RC_mess.RC_data.ch[2],0,100,0,25000);
+          CAN_VESC_RPM(1, speed_5065); //发射电机转速
+          CAN_VESC_RPM(2, speed_5065); //发射电机转速
+          
+        }
+
+      }
+      if(shoot_flag == 2 || RC_mess.RC_data.sw[5]==1694)//返回//不拨动为306
+      {
+        speed_5065=-5000;
+        CAN_VESC_RPM(1, speed_5065); //发射电机转速
+        CAN_VESC_RPM(2, speed_5065); //发射电机转速
+        osDelay(2000);
+        speed_5065=0;
+        
+      }
+
+      osDelay(1);
+
+}
 

User/module/shoot.h

@@ -20,6 +20,7 @@ typedef struct
 	float allowRange;
 }GO_SHOOT;
 
+void control_shoot(void);
 
 
 #endif

User/task/ball_task.c

@@ -28,7 +28,14 @@ void Task_Ball(void *argument)
     {
 
        // Turn_pos=20;
-      
+         if(RC_mess.RC_data.sw[0]==306)//加速
+        {
+            basketball.hand=1;
+        }
+        else if(RC_mess.RC_data.sw[0]==1694)//减速
+        {
+            basketball.hand=0;
+        }
         handling_ball(basketball.hand,Turn_pos);
         bb=ball_in();
         if(bb==1)

User/task/dji_task.c

@@ -40,17 +40,15 @@ void Task_Motor(void *argument)
    if(RC_mess.RC_data.sw[4]==306||shoot_f==3)
    {
      pos2006=200;
-     trigger_pos(pos2006);
      
    }
-  else if(RC_mess.RC_data.sw[4]==1694)
+  else 
    {
      pos2006=0;
-     trigger_pos(pos2006);
+  
    }
   
-  
-
+   trigger_pos(pos2006);
    CAN_cmd_1FF(t_result,0,0,0,&hcan1);
    osDelay(1);
 

User/task/shoot_task.c

@@ -5,20 +5,15 @@
 #include <cmsis_os2.h>
 #include "remote_control.h"
 #include "shoot.h"
-#include "odrive_shoot.h"
-#include "read_spi.h"
 #include "dji.h"
 #include "go.h"
 
+
 extern RC_mess_t RC_mess;
-extern Encoder_t encoder;
 extern motor_measure_t *trigger_motor_data;//3508电机数据
 extern GO go;
-int shoot_flag = 0;
-int trigger_flag = 0;
-int pos=0;
+
 int gopos=0;
-int speed_5065=0;
 
 
 #define VESC_SHOOT 1
@@ -44,40 +39,9 @@ void Task_Shoot(void *argument)
       #if VESC_SHOOT == 1
       gopos=35;//云台位置
       GO_TURN_ball(GIMBAL,go,gopos); //锁云台
+      control_shoot();
 
       
-      if(shoot_flag==1||RC_mess.RC_data.sw[0]==306)//加速
-      {
-
-        if(HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin) == GPIO_PIN_RESET)
-        {
-          CAN_VESC_HEAD(1);
-          CAN_VESC_HEAD(2);
-        }
-        else
-        {
-          speed_5065=35000;
-          CAN_VESC_RPM(1, speed_5065); //发射电机转速
-          CAN_VESC_RPM(2, speed_5065); //发射电机转速
-          
-        }
-
-
-      }
-      else if(shoot_flag == 2 || RC_mess.RC_data.sw[5]==1694)//返回//不拨动为306
-      {
-        speed_5065=-5000;
-        CAN_VESC_RPM(1, speed_5065); //发射电机转速
-        CAN_VESC_RPM(2, speed_5065); //发射电机转速
-        
-      }
-      else if(shoot_flag == 0)
-      {
-        CAN_VESC_RPM(1, 0); //发射电机转速
-        CAN_VESC_RPM(2, 0); //发射电机转速
-       
-      }
-
 
       #endif
      tick += delay_tick; /* 计算下一个唤醒时刻 */