79 lines
1.7 KiB
C
79 lines
1.7 KiB
C
#include "ball.h"
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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 "go.h"
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// PC6 ball_up_Pin读运球 检测到输出0,未检测到输出1
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// PE13 down_Pin 下推
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// PE14 paw_Pin 爪子
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// PI6 ball_in1_Pin 读接球
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// PI7 ball_in2_Pin 读接球
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// PE11 key_Pin 收网
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#define ballcome 1
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#define balldown 0
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extern GO go;
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//光电识别
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int ball_in(void)
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{
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return (HAL_GPIO_ReadPin(ball_up_GPIO_Port, ball_up_Pin));
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}
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int pass_ball(void)
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{
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return (HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin));
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}
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//运球
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void handling_ball(int hand, int angle)
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{
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GO_TURN_ball(TURN,go,angle);//停止运球
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int ball_state =0;//有球
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int paw_state =0;//获取爪子开合状态
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if( hand==1)
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{
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HAL_GPIO_WritePin(paw_GPIO_Port, paw_Pin, GPIO_PIN_SET);
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paw_state =1;//爪子开
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// osDelay(5);
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HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_RESET);//打出
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ball_state =1;//无球
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osDelay(500);
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HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_SET);//收回
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ball_state =ball_in();//获取爪子有无球状态
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}
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if (paw_state==1&&ball_state==0)
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{
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HAL_GPIO_WritePin(paw_GPIO_Port, paw_Pin, GPIO_PIN_RESET);//爪子合
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osDelay(500);
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ball_state=1;//有球清除标志
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paw_state=0;//爪子合清除标志
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hand=0;
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}
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}
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//接球
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int catch_ball(int inball)
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{
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inball =pass_ball();
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if(inball==1)
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{
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//接球
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HAL_GPIO_WritePin(key_GPIO_Port, key_Pin, GPIO_PIN_SET);
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return ballcome;
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}
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else
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{
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HAL_GPIO_WritePin(key_GPIO_Port, key_Pin, GPIO_PIN_RESET);
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return balldown;
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}
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}
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