LiZongdi
/
Huangjiabao_backup
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

吊耳切割【编译通过】用右旋钮控制滑台速度并在界面显示，默认平面铣

master
Lizongdi 3 weeks ago
parent
8dc1faf2ae
commit
6c6529716a
6 changed files with 24 additions and 13 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
  2. 17
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  3. 2
      diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java
  4. 8
      diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
  5. 4
      diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml
  6. 2
      diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml

4
diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="2006509065231787417" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-293606493875896057" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="2006509065231787417" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-293606493875896057" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

17
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
View File

@ -86,6 +86,7 @@ void EmergencyStopControl()
{
if((GV.MK32_Key.CH8_SE == -1000) && GV.MK32_Key.CH9_SF == -1000)
{
LS_485Motors_Speed = 0;
CurrentMoveState = Move_HALT;
CurrentFrontEndState = HALT_STATE;
StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
@ -446,9 +447,19 @@ int Knife_Detection(void)
extern int32_t KinfePosition;
extern int StrongSingleShotFlag;
int Frontend_Speed = 0;
void Frontend_Control()
{
int val = GV.MK32_Key.CH11_RD1 + 1000;
if (val > 0 && val <= 286) Frontend_Speed = 120;
else if (val > 286 && val <= 571) Frontend_Speed = 180;
else if (val > 571 && val <= 857) Frontend_Speed = 240;
else if (val > 857 && val <= 1143) Frontend_Speed = 300;
else if (val > 1143 && val <= 1429) Frontend_Speed = 360;
else if (val > 1429 && val <= 1714) Frontend_Speed = 420;
else if (val > 1714 && val <= 2000) Frontend_Speed = 480;
int angle;
angle = atan2(GV.MK32_Key.CH1_RY_V, GV.MK32_Key.CH0_RY_H) * 180 / M_PI;
@ -466,7 +477,7 @@ void Frontend_Control()
// 右转
if((angle >= -45) && (angle <=45))
{
LS_485Motors_Speed = 100;
LS_485Motors_Speed = Frontend_Speed;
return;
}
}
@ -479,7 +490,7 @@ void Frontend_Control()
// 左转
else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
{
LS_485Motors_Speed = -100;
LS_485Motors_Speed = -Frontend_Speed;
return;
}
else {
@ -579,7 +590,7 @@ void IV_Control()
}
IV.kinfe_position = (KinfePosition == 1000) ? KinfePosition : (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition);// 这里上传的是原始数据，需要APP上缩小20000倍
IV.max_laser_sensor = MaxLaserSensor;
IV.max_laser_sensor = Frontend_Speed*100/120;
}
void Robot_Control()

2
diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java
View File

@ -87,7 +87,7 @@ public class MainActivity extends AppCompatActivity {
}
else
{
_toSendPV = _toSendPV.toBuilder().setKnifeDescendingHeight(0).build();
_toSendPV = _toSendPV.toBuilder().setKnifeDescendingHeight(1).build();
}
// 强磨机主轴速度

8
diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
View File

@ -367,11 +367,11 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
}
if (_toReceiveIV1.getMaxLaserSensor() == 10000) {
activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
} else {
// if (_toReceiveIV1.getMaxLaserSensor() == 10000) {
// activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
// } else {
activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
}
// }
}
}

4
diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml
View File

@ -350,7 +350,7 @@
android:layout_width="35dp"
android:layout_height="match_parent"
android:gravity="center"
android:text="mm"
android:text="mm/s"
android:textColor="@color/dark_ink_blue"
android:textSize="10dp" />
@ -520,7 +520,6 @@
android:layout_gravity="center"
android:layout_weight="1"
android:gravity="left|center"
android:checked="true"
android:text="立面铣"
android:textColor="@color/blue_green"
android:textSize="20dp"
@ -533,6 +532,7 @@
android:layout_gravity="center"
android:layout_weight="1"
android:gravity="left|center"
android:checked="true"
android:text="平面铣"
android:textColor="@color/blue_green"
android:textSize="20dp"

2
diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml
View File

@ -12,7 +12,7 @@
<string name="OperateMode">作业\n模式</string>
<string name="RobotSpeed">车体\n速度</string>
<string name="KnifePosition">刀具\n位置</string>
<string name="MaxLaserSensor">扫描\n极值\n</string>
<string name="MaxLaserSensor">滑台\n速度\n</string>
<string name="KnifeReadyComplete">夹刀\n信号</string>
<string name="RightCompensation">右侧\n补偿</string>

Write Preview
Loading…
Cancel
Save