From 25bdadf8783b925ff31010a1bb1259322f86395b Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Thu, 27 Mar 2025 23:02:19 +0800
Subject: [PATCH] =?UTF-8?q?=E9=80=9F=E5=BA=A6=E5=A4=A7=E4=BA=86=E4=BC=9A?=
 =?UTF-8?q?=E5=8D=A1=E6=AD=BB?=
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---
 User/device/read_spi.c | 19 +++++++++++++++++++
 User/device/read_spi.h |  2 +-
 User/module/shoot.c    | 25 ++++++++++++++++++++-----
 User/module/shoot.h    |  2 +-
 User/task/shoot_task.c |  2 +-
 5 files changed, 42 insertions(+), 8 deletions(-)

diff --git a/User/device/read_spi.c b/User/device/read_spi.c
index c4beb10..9a88165 100644
--- a/User/device/read_spi.c
+++ b/User/device/read_spi.c
@@ -61,6 +61,25 @@ void Update_Encoder(Encoder_t *ptr) {
     ptr->last_ecd = ptr->ecd;
 }
 
+// void Update_Encoder(Encoder_t *ptr) {
+//     ptr->ecd = AS5047_read(ANGLEUNC);
+
+//     // 检测编码器的圈数变化
+//     if (ptr->ecd - ptr->last_ecd > 4096) {
+//         ptr->round_cnt -= 1.0f; // 减去一圈
+//     } else if (ptr->ecd - ptr->last_ecd < -4096) {
+//         ptr->round_cnt += 1.0f; // 加上一圈
+//     }
+
+//     // 计算总角度
+//     ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd));
+
+//     // 更新 round_cnt 为小数圈数
+//     ptr->round_cnt = (float)(ptr->total_angle / 8192.0f); // 将总角度转换为圈数（浮点数）
+
+//     ptr->last_ecd = ptr->ecd;
+// }
+
 int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
     return ptr->round_cnt;
 }
diff --git a/User/device/read_spi.h b/User/device/read_spi.h
index 1f3674a..014560e 100644
--- a/User/device/read_spi.h
+++ b/User/device/read_spi.h
@@ -19,7 +19,7 @@
 #define SETTINGS2 0x0019
 
 typedef struct {
-  int32_t round_cnt;
+  float round_cnt;
   uint16_t ecd;
   uint16_t last_ecd;
   uint16_t offset_ecd;
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 27b8745..1dfbf60 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -8,6 +8,7 @@ extern motor_measure_t *trigger_motor_data;//3508电机数据
 
 int mode=0;
 int shoot=0;
+int xxx=0;
 
 #define Stop 0
 #define Hasten 1
@@ -15,7 +16,7 @@ int shoot=0;
 #define Shoot 3
 #define VESC_ID 77
 
-int speed_6384=10000;
+int speed_6384=-1500;
 
 void control_clutch_shoot(void)
 {
@@ -35,9 +36,10 @@ void control_clutch_shoot(void)
     {
        if(shoot ==0)
        { 
-        if(encoder.round_cnt <= 4)
+        if(encoder.round_cnt <= 2)
         {
  
+					xxx=1;
          CAN_VESC_RPM(VESC_ID, speed_6384); 
 
         }
@@ -45,16 +47,23 @@ void control_clutch_shoot(void)
        }
        else if(shoot ==Shoot)
        {
-        if(encoder.round_cnt <= 4)
+        if(encoder.round_cnt <= 3)
         {
-           
+          xxx=3; 
          HAL_GPIO_WritePin(key_GPIO_Port,key_Pin,GPIO_PIN_SET);
 
          CAN_VESC_RPM(VESC_ID, speed_6384);     
 
         }
-        else if(encoder.round_cnt >= 4)
+
+        //   xxx=3; 
+        //  HAL_GPIO_WritePin(key_GPIO_Port,key_Pin,GPIO_PIN_SET);
+        //  CAN_VESC_RPM(VESC_ID, speed_6384);     
+
+        if(encoder.round_cnt >= 3)
         {
+					xxx=4;
+          shoot=Slow;
           HAL_GPIO_WritePin(key_GPIO_Port,key_Pin,GPIO_PIN_RESET);  
             
           CAN_VESC_HEAD(VESC_ID);         
@@ -62,6 +71,12 @@ void control_clutch_shoot(void)
         
 
        }
+        else if(shoot == Slow)
+        {
+
+          CAN_VESC_HEAD(VESC_ID); 
+   
+        }
     }
 
 }
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 6878b1a..d451fcf 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -7,6 +7,6 @@
 #include "pid.h"
 #include "main.h"
 
-
+void control_clutch_shoot(void);
 
 #endif
diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c
index b6b66d0..93ba555 100644
--- a/User/task/shoot_task.c
+++ b/User/task/shoot_task.c
@@ -30,7 +30,7 @@ void Task_Shoot(void *argument)
     // 更新编码器数据
     Update_Encoder(&encoder);
 
-   
+    control_clutch_shoot();
        
      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 */