MDK-ARM/.vscode/settings.json

@@ -17,8 +17,6 @@
         "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"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,3 +1,10 @@
-Load "mycode1\\mycode1.axf" 
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Erase Done.Programming Done.Verify OK.Application running ...
+Build target 'mycode1'
-Flash Load finished at 22:03:22
+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

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/3/14 22:03:23
+2025/3/14 20:41:26

MDK-ARM/mycode1.uvoptx

@@ -208,27 +208,37 @@
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>encoder,0x0A</ItemText>
+          <ItemText>angleo,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>mode,0x0A</ItemText>
+          <ItemText>shoot</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>m</ItemText>
+          <ItemText>multi_turn_angle,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
-          <ItemText>trigger_motor_data,0x0A</ItemText>
+          <ItemText>angle_encoder</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>1</WinNumber>
-          <ItemText>trigger_angle_o</ItemText>
+          <ItemText>back_angle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>encoder,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>angles</ItemText>
         </Ww>
       </WatchWindow1>
       <WatchWindow2>
@@ -312,7 +322,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/device/djiMotor.c

@@ -37,7 +37,7 @@
         (ptr)->temperate = (data)[6]; 																	\
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
-				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508;														\
+				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE;														\
     }//ptr指向电机测量数据结构体的指针，data包含电机测量数据的数组.
 /*(ptr)->real_angle = (ptr)->real_angle % 360;	*/
 #define get_motor_offset(ptr, data)														\
@@ -55,17 +55,6 @@
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
 				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020;														\
-    }                       
-#define get_2006_motor_measure(ptr, data)                     								\
-    {                                                                 	\
-        (ptr)->last_ecd = (ptr)->ecd;                              			\
-        (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]);            \
-        (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]);      \
-        (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]);  \
-        (ptr)->temperate = (data)[6]; 																	\
-				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
-				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
-				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006;														\
     } 
 		//		解析出初始编码器值			
 // #define get_5065motor_measure(ptr, data)                                    \
@@ -143,7 +132,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     
 }
 #else
-static osEventFlagsId_t eventReceive;//事件标志
+static osEventFlagsId_t eventReceive;
 /**
   * @brief          自定义大疆电机回调函数
   * @param[in]      none

User/device/djiMotor.h

@@ -47,8 +47,7 @@ typedef struct
 
 //motor calc ecd to angle 
 
-#define MOTOR_ECD_TO_ANGLE_3508  (360.0 / 8191.0 / (3591.0/187.0))
+#define MOTOR_ECD_TO_ANGLE  (360.0 / 8191.0 / (3591.0/187.0))
-#define MOTOR_ECD_TO_ANGLE_2006 (360.0 / 8191.0 / 36)
 #define MOTOR_ECD_TO_RAD 0.000766990394f
 #define MOTOR_ECD_TO_ANGLE_6020  (360.0 / 8191.0 )
 

User/task/dji_task.c

@@ -5,26 +5,22 @@
 #include <cmsis_os2.h>
 #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 *trigger_motor_data;
+extern motor_measure_t *motor_3508_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 */
@@ -32,7 +28,6 @@ void Task_Motor(void *argument)
   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
 
    motor_init();
-   Encoder_Init(&encoder);
    
   uint32_t tick = osKernelGetTickCount();
 
@@ -40,28 +35,12 @@ void Task_Motor(void *argument)
   {
     //收到消息队列新数据
   
-    // 更新编码器数据
+    //电机控制
-    Update_Encoder(&encoder);
+    //motor_speed(speed);
-		m=trigger_angle_o*(8191/360);
+		m=angle*(8191/360);
-    if( mode == THREE )
+   //  motor_pos(m);
-    {
+    trigger_pos(m);
-      //当最高点时进入离合
+    //CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1);
-      if(encoder.round_cnt>=8)
-      {
-        trigger_angle_o=2;
-        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);
 

User/task/dji_task.h

@@ -2,7 +2,4 @@
 #define _DJI_TASK_H_
 
 
-#define THREE 3
-#define DZ 0
-
 #endif

User/task/shoot_task.c

@@ -7,27 +7,20 @@
 #include "shoot.h"
 #include "odrive_shoot.h"
 #include "read_spi.h"
-#include "dji_task.h"
 
 extern RC_mess_t RC_mess;
-extern Encoder_t encoder;
+Encoder_t encoder;
-extern motor_measure_t *trigger_motor_data;//3508电机数据
+double angles;
-extern int mode;
+int32_t rounds;
-
+int angleo = 0;  //发射角度
 #define GO1_SHOOT 0
 #define ODRIVE_SHOOT 1
 
-//odrive发射
-#define SHOOT3 12
-#define TOP 6
-#define MIDDLE 3
-#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
@@ -41,20 +34,12 @@ void Task_Shoot(void *argument)
     shoot_ball(0);
 
      #elif ODRIVE_SHOOT == 1
-    if(mode == THREE)
+			shootStep();
-    {
+    //shoot_odrive(angleo);
-      shoot_odrive(SHOOT3);    
-    }	
-    else if(mode == DZ)
-    {
-      if(trigger_motor_data->total_angle ==0)//扳机已闭合
-      {
-        shoot_odrive(BOTTOM);   
-      }
-     
-    }
-
      #endif
+  // 更新编码器数据
+  Update_Encoder(&encoder);
+
      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 */
     }