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新增IV、PV

master
HJB\13752 3 months ago
parent
3ff818c71d
commit
815931fa41
9 changed files with 99 additions and 122 deletions
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  1. 4
      diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
  2. 48
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c
  3. 25
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h
  4. 6
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_PV.pb.h
  5. 9
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto
  6. 2
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_PV.proto
  7. 8
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  8. 72
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
  9. 47
      diaoerqiege/雷赛CAN指令.txt

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 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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="1478844030219557014" 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="464747038937607816" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="1478844030219557014" 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="464747038937607816" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

48
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c
View File

@ -89,41 +89,41 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length)
if((buffer[0] == 0x01) && (buffer[1] == 0x04) && (buffer[2] == 0x04)) if((buffer[0] == 0x01) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{ {
*g_zhr29_200_laser_sensor_1 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000; *g_zhr29_200_laser_sensor_1 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000;
if(*g_zhr29_200_laser_sensor_1 >= 280) // if(*g_zhr29_200_laser_sensor_1 >= 280)
{ // {
*g_zhr29_200_laser_sensor_1 = 280; // *g_zhr29_200_laser_sensor_1 = 280;
} // }
if(*g_zhr29_200_laser_sensor_1 <= 120) // if(*g_zhr29_200_laser_sensor_1 <= 120)
{ // {
*g_zhr29_200_laser_sensor_1 = 120; // *g_zhr29_200_laser_sensor_1 = 120;
} // }
} }
else if((buffer[0] == 0x02) && (buffer[1] == 0x04) && (buffer[2] == 0x04)) else if((buffer[0] == 0x02) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{ {
*g_zhr29_200_laser_sensor_2 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000; *g_zhr29_200_laser_sensor_2 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000;
if(*g_zhr29_200_laser_sensor_2 >= 280) // if(*g_zhr29_200_laser_sensor_2 >= 280)
{ // {
*g_zhr29_200_laser_sensor_2 = 280; // *g_zhr29_200_laser_sensor_2 = 280;
} // }
if(*g_zhr29_200_laser_sensor_2 <= 120) // if(*g_zhr29_200_laser_sensor_2 <= 120)
{ // {
*g_zhr29_200_laser_sensor_2 = 120; // *g_zhr29_200_laser_sensor_2 = 120;
} // }
} }
else if((buffer[0] == 0x03) && (buffer[1] == 0x04) && (buffer[2] == 0x04)) else if((buffer[0] == 0x03) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{ {
*g_zhr29_200_laser_sensor_3 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000; *g_zhr29_200_laser_sensor_3 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 1000;
if(*g_zhr29_200_laser_sensor_3 >= 280) // if(*g_zhr29_200_laser_sensor_3 >= 280)
{ // {
*g_zhr29_200_laser_sensor_3 = 280; // *g_zhr29_200_laser_sensor_3 = 280;
} // }
if(*g_zhr29_200_laser_sensor_3 <= 120) // if(*g_zhr29_200_laser_sensor_3 <= 120)
{ // {
*g_zhr29_200_laser_sensor_3 = 120; // *g_zhr29_200_laser_sensor_3 = 120;
} // }
} }
else{ else{

25
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h
View File

@ -11,12 +11,11 @@
/* Struct definitions */ /* Struct definitions */
typedef struct _IV_struct_define { typedef struct _IV_struct_define {
/* 洗舱项目 */
double Robot_Move_Speed; double Robot_Move_Speed;
int32_t Robot_Swing_Speed;
double Pit_time;
double Rot_time;
int32_t RF_Angle_Roll; int32_t RF_Angle_Roll;
int32_t laser_sensor_1_measure_distance;
int32_t laser_sensor_2_measure_distance;
int32_t laser_sensor_3_measure_distance;
} IV_struct_define; } IV_struct_define;
@ -30,18 +29,18 @@ extern "C" {
/* Field tags (for use in manual encoding/decoding) */ /* Field tags (for use in manual encoding/decoding) */
#define IV_struct_define_Robot_Move_Speed_tag 1 #define IV_struct_define_Robot_Move_Speed_tag 1
#define IV_struct_define_Robot_Swing_Speed_tag 2 #define IV_struct_define_RF_Angle_Roll_tag 2
#define IV_struct_define_Pit_time_tag 3 #define IV_struct_define_laser_sensor_1_measure_distance_tag 3
#define IV_struct_define_Rot_time_tag 4 #define IV_struct_define_laser_sensor_2_measure_distance_tag 4
#define IV_struct_define_RF_Angle_Roll_tag 5 #define IV_struct_define_laser_sensor_3_measure_distance_tag 5
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define IV_struct_define_FIELDLIST(X, a) \ #define IV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, DOUBLE, Robot_Move_Speed, 1) \ X(a, STATIC, SINGULAR, DOUBLE, Robot_Move_Speed, 1) \
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Speed, 2) \ X(a, STATIC, SINGULAR, INT32, RF_Angle_Roll, 2) \
X(a, STATIC, SINGULAR, DOUBLE, Pit_time, 3) \ X(a, STATIC, SINGULAR, INT32, laser_sensor_1_measure_distance, 3) \
X(a, STATIC, SINGULAR, DOUBLE, Rot_time, 4) \ X(a, STATIC, SINGULAR, INT32, laser_sensor_2_measure_distance, 4) \
X(a, STATIC, SINGULAR, INT32, RF_Angle_Roll, 5) X(a, STATIC, SINGULAR, INT32, laser_sensor_3_measure_distance, 5)
#define IV_struct_define_CALLBACK NULL #define IV_struct_define_CALLBACK NULL
#define IV_struct_define_DEFAULT NULL #define IV_struct_define_DEFAULT NULL
@ -52,7 +51,7 @@ extern const pb_msgdesc_t IV_struct_define_msg;
/* Maximum encoded size of messages (where known) */ /* Maximum encoded size of messages (where known) */
#define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size #define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size
#define IV_struct_define_size 49 #define IV_struct_define_size 53
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

6
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_PV.pb.h
View File

@ -11,7 +11,7 @@
/* Struct definitions */ /* Struct definitions */
typedef struct _PV_struct_define { typedef struct _PV_struct_define {
int32_t Robot_Tilt_TargetCurrent; int32_t knife_descending_height;
} PV_struct_define; } PV_struct_define;
@ -24,11 +24,11 @@ extern "C" {
#define PV_struct_define_init_zero {0} #define PV_struct_define_init_zero {0}
/* Field tags (for use in manual encoding/decoding) */ /* Field tags (for use in manual encoding/decoding) */
#define PV_struct_define_Robot_Tilt_TargetCurrent_tag 1 #define PV_struct_define_knife_descending_height_tag 1
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define PV_struct_define_FIELDLIST(X, a) \ #define PV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Robot_Tilt_TargetCurrent, 1) X(a, STATIC, SINGULAR, INT32, knife_descending_height, 1)
#define PV_struct_define_CALLBACK NULL #define PV_struct_define_CALLBACK NULL
#define PV_struct_define_DEFAULT NULL #define PV_struct_define_DEFAULT NULL

9
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto
View File

@ -5,11 +5,10 @@ syntax = "proto3";
message IV_struct_define{ message IV_struct_define{
// 洗舱项目
double Robot_Move_Speed= 1; double Robot_Move_Speed= 1;
int32 Robot_Swing_Speed= 2; int32 RF_Angle_Roll = 2;
double Pit_time = 3; int32 laser_sensor_1_measure_distance = 3;
double Rot_time = 4; int32 laser_sensor_2_measure_distance = 4;
int32 RF_Angle_Roll = 5; int32 laser_sensor_3_measure_distance = 5;
}; };

2
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_PV.proto
View File

@ -1,5 +1,5 @@
syntax = "proto3"; syntax = "proto3";
message PV_struct_define{ message PV_struct_define{
int32 Robot_Tilt_TargetCurrent= 1; int32 knife_descending_height = 1;
}; };

8
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
View File

@ -32,9 +32,10 @@ static int index_counter = 0;
transition_t MoveTransitions[] = transition_t MoveTransitions[] =
{ {
{ Move_HALT, HALT_State_Do },
{ Manual_State, Manual_State_Do }, { Manual_State, Manual_State_Do },
{ low_Speed_Manual_State, low_Speed_Manual_State_Do}, { low_Speed_Manual_State, low_Speed_Manual_State_Do},
{ Move_HALT, HALT_State_Do },
}; };
transition_t FrontendMoveTransitions[] = transition_t FrontendMoveTransitions[] =
@ -92,7 +93,7 @@ void Strong_Grinding_Machine_Control()
IsAllowRotation = Knife_Detection(); IsAllowRotation = Knife_Detection();
if(IsAllowRotation == 1) if(IsAllowRotation == 1)
{ {
if(GV.MK32_Key.CH7_SD == -1000) if(GV.MK32_Key.CH6_SC == -1000)
{ {
StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE; StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE;
} }
@ -180,6 +181,9 @@ void IV_Control()
real_speed = (Act_Speed*360/100/101/6*3.1415926*0.325); real_speed = (Act_Speed*360/100/101/6*3.1415926*0.325);
IV.Robot_Move_Speed = real_speed; IV.Robot_Move_Speed = real_speed;
IV.RF_Angle_Roll = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll; IV.RF_Angle_Roll = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll;
IV.laser_sensor_1_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
IV.laser_sensor_2_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
} }
void Robot_Control() void Robot_Control()

72
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
View File

@ -271,78 +271,6 @@ void Strong_Grinding_Machine_Motion_State_Do(void)
} }
//void Manual_Up_Down_State_Do()
//{
// double Rocker_Range=2000; //摇杆范围
// double X_Value_1=0;
// double Y_Value_1=0;
// double X_Value_2=0;
// double Y_Value_2=0;
//
// // 前端移动速度，单位mm/s
// int32_t SliderSpeed = 10;
//
// X_Value_1=GV.MK32_Key.CH0_RY_H+0.00001;
// //CH1_RY_V [-1000,1000]
// Y_Value_1=GV.MK32_Key.CH1_RY_V+0.00001;
// //归一化
// X_Value_2=X_Value_1/Rocker_Range;
// Y_Value_2=Y_Value_1/Rocker_Range;
//
// //摇杆角度
// double Rocker_angle = atan(Y_Value_2 / X_Value_2);
//
//
// //int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
//
//
//// if(fabs(Rocker_angle) > PI*0.35)
//// {
//// if(GV.MK32_Key.CH1_RY_V > 0)
//// {
//// //前进
//// SlideMotionSetPosition(-10000000,SliderSpeed_PPS);
////
//// }
//// else if(GV.MK32_Key.CH1_RY_V < 0)
//// {
//// //后退
//// SlideMotionSetPosition(10000000,SliderSpeed_PPS);
//// }
//// }
//// else if(fabs(Rocker_angle) < PI*0.15)
//// {
//// if(GV.MK32_Key.CH0_RY_H > 0)
//// {
////
//// //右转前行
////
//// }
//// else if(GV.MK32_Key.CH0_RY_H <= 0)
//// {
//// //左转前行
////
//// }
//// }
//// else
//// {
//// SlideMotionSetPosition(10000000,0);
//// }
//
//
//}

47
diaoerqiege/雷赛CAN指令.txt
View File

@ -0,0 +1,47 @@
CAN指令
81 00 00 00 00 00 00 00 复位所有节点
01 00 00 00 00 00 00 00 启动所有节点的远程控制
步骤1（复位节点）和步骤2（启动节点）的帧ID是“0x0000”，其余的步骤的帧ID为SDO的地址0X0600+节点号
2b 40 60 00 06 00 00 00 写控制字06H，状态机切换状态
2b 40 60 00 07 00 00 00 写控制字07H，状态机切换状态
2b 40 60 00 0f 00 00 00 写控制字0FH，状态机切换状态
一、速度模式发以下指令
2f 60 60 00 03 00 00 00 速度模式
23 ff 60 00 A0 86 01 00 正转
23 ff 60 00 60 79 FE FF 反转
23 ff 60 00 00 00 00 00 停车
二、位置模式发以下指令
2f 60 60 00 01 00 00 00 位置模式
23 81 60 00 A0 86 01 00 写速度
23 7a 60 00 A0 86 01 00 正转10圈（5mm）
23 7a 60 00 60 79 FE FF 反转10圈（5mm）
23 7a 60 00 C0 D4 01 00 正转12圈（6mm）
23 7a 60 00 40 2B FE FF 反转12圈（6mm）
2b 40 60 00 4f 00 00 00 设置为相对运动模式
2b 40 60 00 5f 00 00 00 电机开始运动
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