速度大了会卡死

MDK-ARM/.vscode/keil-assistant.log

@@ -62,3 +62,9 @@
 
 [info] Log at : 2025/3/19|14:10:22|GMT+0800
 
+[info] Log at : 2025/3/26|14:58:18|GMT+0800
+
+[info] Log at : 2025/3/26|15:24:15|GMT+0800
+
+[info] Log at : 2025/3/26|17:13:53|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,8 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'mycode1'
-compiling shoot_task.c...
+compiling shoot.c...
 linking...
-Program Size: Code=26332 RO-data=1904 RW-data=280 ZI-data=22472  
+Program Size: Code=25844 RO-data=1904 RW-data=248 ZI-data=22512  
 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 @@
-2025/3/19 14:04:20
+2025/3/26 20:14:55

MDK-ARM/mycode1.uvoptx

@@ -230,6 +230,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>trigger_angle_o</ItemText>
         </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>speed_6384,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
@@ -868,7 +873,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1004,7 +1009,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

README.md

@@ -2,7 +2,7 @@
 
 ## r1上层 
 
-1. **odrive**推射 **can1**  **id 010**  **spi2**读取as5047p
+1. **vesc** **can1 id:77** **spi2**读取as5047p
 2. go1 RS485模块 01翻转  02云台
 3. 爪子 左三PC6
 4. 接球 左一左2 PI7 PI6

User/device/djiMotor.c

@@ -303,28 +303,36 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
     HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
 }
 
-/**************************************
- * 限幅函数
- **************************************/
+/**
+  * @brief          返回电机数据指针
+  * @param[in]      i: 电机编号
+  * @retval         电机数据指针
+  */
+ motor_measure_t *get_motor_point(uint8_t i)
+ {
+     return &motor_chassis[i];
+ }
+
+
+/**
+ * @brief          限制vesc电机转速
+ * @param[in/out]  rpm:  vesce电机转速
+ * @retval         none
+ *
+ * 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
+ * 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
+ */
 void assert_param_rpm(float *rpm){
 	if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
 		*rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
 }
 
 /**
-  * @brief          返回电机数据指针
-  * @param[in]      i: 电机编号
-  * @retval         电机数据指针
+  * @brief          使vesc电机进入转速模式
+  * @param[in]      controller_id: vesc电机控制器id
+  * @param[in]      RPM: 电机转速
+  * @retval         RPM（1000-50000之间的数）
   */
-motor_measure_t *get_motor_point(uint8_t i)
-{
-    return &motor_chassis[i];
-}
-
-/*
-用转速模式控制电机
-输入参数是controller_id（我用的是65，这个可以在上位机找到）和RPM（1000-50000之间的数）
-*/
 void  CAN_VESC_RPM(uint8_t controller_id, float RPM)
 {
 			uint32_t id;
@@ -347,3 +355,23 @@ void  CAN_VESC_RPM(uint8_t controller_id, float RPM)
 			HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
 }
 
+
+/**
+  * @brief          使vesc电机进入制动模式
+  * @param[in]      controller_id: vesc电机控制器id
+  * @retval         none
+  */
+void  CAN_VESC_HEAD(uint8_t controller_id)
+{
+			uint32_t id;
+			uint32_t send_mail_box;
+	
+			id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
+	
+			vesc_tx_message.ExtId = id;
+			vesc_tx_message.IDE = CAN_ID_EXT;
+			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);
+}

User/device/djiMotor.h

@@ -166,6 +166,8 @@ void vescMotorEncode(void);
 
 void  CAN_VESC_RPM(uint8_t controller_id, float RPM);
 
+void  CAN_VESC_HEAD(uint8_t controller_id);
+
 #ifdef __cplusplus
 }
 #endif

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;
 }

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;

User/module/shoot.c

@@ -1,9 +1,82 @@
 #include "shoot.h"
 #include "remote_control.h"
+#include "read_spi.h"
 
 extern RC_mess_t RC_mess;
+extern Encoder_t encoder;
 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
+#define Slow 2
+#define Shoot 3
+#define VESC_ID 77
+
+int speed_6384=-1500;
+
+void control_clutch_shoot(void)
+{
+
+    if(mode == Stop)
+    {
+
+        if(encoder.round_cnt == 0)
+        {
+
+         CAN_VESC_HEAD(VESC_ID);  
+        }
   
 
+    }
+    else if(mode == Hasten)
+    {
+       if(shoot ==0)
+       { 
+        if(encoder.round_cnt <= 2)
+        {
  
+					xxx=1;
+         CAN_VESC_RPM(VESC_ID, speed_6384); 
+
+        }
+
+       }
+       else if(shoot ==Shoot)
+       {
+        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);     
+
+        }
+
+        //   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);         
+        }
+        
+
+       }
+        else if(shoot == Slow)
+        {
+
+          CAN_VESC_HEAD(VESC_ID); 
+   
+        }
+    }
+
+}

User/module/shoot.h

@@ -5,8 +5,8 @@
 #include "djiMotor.h"
 #include "calc_lib.h"
 #include "pid.h"
+#include "main.h"
 
-
-
+void control_clutch_shoot(void);
 
 #endif

User/task/dji_task.c

@@ -13,13 +13,10 @@ extern RC_mess_t RC_mess;
 extern int16_t result;
 extern int16_t t_result;
 extern motor_measure_t *trigger_motor_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
  *
@@ -32,17 +29,11 @@ void Task_Motor(void *argument)
   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
 
    motor_init();
-   Encoder_Init(&encoder);
    
   uint32_t tick = osKernelGetTickCount();
 
    while(1)
   {
-    //收到消息队列新数据
-  
-    // 更新编码器数据
-    Update_Encoder(&encoder);
-		m=trigger_angle_o*(8191/360);
 
       
     CAN_cmd_200(t_result,0,0,0,&hcan1);

User/task/shoot_task.c

@@ -10,26 +10,27 @@
 #include "djiMotor.h"
 
 extern RC_mess_t RC_mess;
-extern Encoder_t encoder;
-extern motor_measure_t *trigger_motor_data;//3508电机数据
-extern int mode;
 
-int speed_6384=10000;
+Encoder_t encoder;
 
 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);
 
  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
 
     while(1)
     {
 
-     CAN_VESC_RPM(77, speed_6384);
+    //收到消息队列新数据
   
+    // 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 */