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速度大了会卡死

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This commit is contained in:
ws 2025-03-27 23:02:19 +08:00
parent 24eb09e2f7
commit 25bdadf878
5 changed files with 42 additions and 8 deletions
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19
User/device/read_spi.c
View File

@ -61,6 +61,25 @@ void Update_Encoder(Encoder_t *ptr) {
ptr->last_ecd = ptr->ecd; 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) { int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
return ptr->round_cnt; return ptr->round_cnt;
} }

2
User/device/read_spi.h
View File

@ -19,7 +19,7 @@
#define SETTINGS2 0x0019 #define SETTINGS2 0x0019
typedef struct { typedef struct {
int32_t round_cnt; float round_cnt;
uint16_t ecd; uint16_t ecd;
uint16_t last_ecd; uint16_t last_ecd;
uint16_t offset_ecd; uint16_t offset_ecd;

25
User/module/shoot.c
View File

@ -8,6 +8,7 @@ extern motor_measure_t *trigger_motor_data;//3508电机数据
int mode=0; int mode=0;
int shoot=0; int shoot=0;
int xxx=0;
#define Stop 0 #define Stop 0
#define Hasten 1 #define Hasten 1
@ -15,7 +16,7 @@ int shoot=0;
#define Shoot 3 #define Shoot 3
#define VESC_ID 77 #define VESC_ID 77
int speed_6384=10000; int speed_6384=-1500;
void control_clutch_shoot(void) void control_clutch_shoot(void)
{ {
@ -35,9 +36,10 @@ void control_clutch_shoot(void)
{ {
if(shoot ==0) if(shoot ==0)
{ {
if(encoder.round_cnt <= 4) if(encoder.round_cnt <= 2)
{ {
xxx=1;
CAN_VESC_RPM(VESC_ID, speed_6384); CAN_VESC_RPM(VESC_ID, speed_6384);
} }
@ -45,22 +47,35 @@ void control_clutch_shoot(void)
} }
else if(shoot ==Shoot) 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); HAL_GPIO_WritePin(key_GPIO_Port,key_Pin,GPIO_PIN_SET);
CAN_VESC_RPM(VESC_ID, speed_6384); 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); HAL_GPIO_WritePin(key_GPIO_Port,key_Pin,GPIO_PIN_RESET);
CAN_VESC_HEAD(VESC_ID); CAN_VESC_HEAD(VESC_ID);
} }
}
else if(shoot == Slow)
{
CAN_VESC_HEAD(VESC_ID);
} }
} }

2
User/module/shoot.h
View File

@ -7,6 +7,6 @@
#include "pid.h" #include "pid.h"
#include "main.h" #include "main.h"
void control_clutch_shoot(void);
#endif #endif

2
User/task/shoot_task.c
View File

@ -30,7 +30,7 @@ void Task_Shoot(void *argument)
// 更新编码器数据 // 更新编码器数据
Update_Encoder(&encoder); Update_Encoder(&encoder);
control_clutch_shoot();
tick += delay_tick; /* 计算下一个唤醒时刻 */ 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 */ osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */