From 1aa5b84322048ba0025af21b179a720643267713 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Mon, 10 Jun 2024 16:56:04 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E7=BD=AE=E7=89=A9?=
 =?UTF-8?q?=E5=B9=B3=E5=8F=B0=E6=8E=A5=E5=8F=A3?=
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---
 app/by_servo.c     | 56 +++++++++++++++++++++++++++++++++++-----------
 app/by_servo.h     |  1 +
 project/src/main.c |  4 ++--
 3 files changed, 46 insertions(+), 15 deletions(-)

diff --git a/app/by_servo.c b/app/by_servo.c
index b109520..53569e6 100644
--- a/app/by_servo.c
+++ b/app/by_servo.c
@@ -17,11 +17,11 @@ void by_servo_set_claw_arm(int16_t angle)
 
   if (angle < 0) {
     angle = 0;
-  } else if (angle > 180) {
-    angle = 180;
+  } else if (angle > 270) {
+    angle = 270;
   }
 
-  ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
+  ch_val = (uint32_t)(((float)angle / 270.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
 
   tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, ch_val);
 
@@ -36,7 +36,7 @@ void by_servo_set_claw_arm(int16_t angle)
  */
 void by_servo_set_claw(int16_t angle)
 {
-#define PULSE_WIDTH_MIN 1.5f
+#define PULSE_WIDTH_MIN 0.5f
 #define PULSE_WIDTH_MAX 2.5f
 
   uint32_t ch_val = 0;
@@ -62,18 +62,18 @@ void by_servo_set_claw(int16_t angle)
  */
 void by_servo_set_camera(int16_t angle)
 {
-#define PULSE_WIDTH_MIN 1.5f
+#define PULSE_WIDTH_MIN 0.5f
 #define PULSE_WIDTH_MAX 2.5f
 
   uint32_t ch_val = 0;
 
   if (angle < 0) {
     angle = 0;
-  } else if (angle > 180) {
-    angle = 180;
+  } else if (angle > 270) {
+    angle = 270;
   }
 
-  ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
+  ch_val = (uint32_t)(((float)angle / 270.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
 
   tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_4, ch_val);
 
@@ -82,13 +82,13 @@ void by_servo_set_camera(int16_t angle)
 }
 
 /**
- * @brief 设置云台摇臂
+ * @brief 设置顶端抓取机构
  *
  * @param angle 角度 (0-180)
  */
 void by_servo_set_scoop(int16_t angle)
 {
-#define PULSE_WIDTH_MIN 1.5f
+#define PULSE_WIDTH_MIN 0.5f
 #define PULSE_WIDTH_MAX 2.5f
 
   uint32_t ch_val = 0;
@@ -107,13 +107,40 @@ void by_servo_set_scoop(int16_t angle)
 #undef PULSE_WIDTH_MAX
 }
 
+/**
+ * @brief 设置置物平台
+ *
+ * @param angle 角度 (0-180)
+ */
+void by_servo_set_storage(int16_t angle)
+{
+#define PULSE_WIDTH_MIN 0.5f
+#define PULSE_WIDTH_MAX 2.5f
+
+  uint32_t ch_val = 0;
+
+  if (angle < 0) {
+    angle = 0;
+  } else if (angle > 180) {
+    angle = 180;
+  }
+
+  ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
+
+  tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_2, ch_val);
+
+#undef PULSE_WIDTH_MIN
+#undef PULSE_WIDTH_MAX
+}
+
 void by_servo_init(void)
 {
   // 后续要不全初始化为空值，由主控按顺序初始化
-  by_servo_set_claw_arm(0);
-  by_servo_set_claw(0);
-  by_servo_set_camera(0);
+  by_servo_set_claw_arm(220); // 36-220
+  by_servo_set_claw(25);    // 25-90
+  by_servo_set_camera(45);
   by_servo_set_scoop(0);
+  by_servo_set_storage(0);
 }
 
 void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
@@ -136,6 +163,9 @@ void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
     case 0x00C:
       by_servo_set_scoop(angle);
       break;
+    case 0x00D:
+      by_servo_set_storage(angle);
+      break;
     default:
       break;
   }
diff --git a/app/by_servo.h b/app/by_servo.h
index e80500e..2eabbcc 100644
--- a/app/by_servo.h
+++ b/app/by_servo.h
@@ -7,6 +7,7 @@ extern void by_servo_set_claw_arm(int16_t angle);
 extern void by_servo_set_claw(int16_t angle);
 extern void by_servo_set_camera(int16_t angle);
 extern void by_servo_set_scoop(int16_t angle);
+extern void by_servo_set_storage(int16_t angle);
 extern void by_servo_init(void);
 extern void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len);
 
diff --git a/project/src/main.c b/project/src/main.c
index c743dd6..f106644 100644
--- a/project/src/main.c
+++ b/project/src/main.c
@@ -71,7 +71,7 @@
 int main(void)
 {
   /* add user code begin 1 */
-
+  by_debug_init();
   /* add user code end 1 */
 
   /* system clock config. */
@@ -108,7 +108,7 @@ int main(void)
 
   while (1) {
     gpio_bits_write(GPIOA, GPIO_PINS_10, !gpio_output_data_bit_read(GPIOA, GPIO_PINS_10));
-    delay_ms(1000);
+    delay_ms(500);
     /* add user code end 3 */
   }
 }