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

增加限位开关判断到达位置

master
Lizongdi 2 months ago
parent
bd1b5ba23f
commit
877e1baa0d
4 changed files with 48 additions and 22 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. 6
      diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug Debug.launch
  3. 23
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  4. 37
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

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="-1256539702914033922" 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="-63235014752314356" 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="-1256539702914033922" 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="-63235014752314356" 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>

6
diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug Debug.launch
View File

@ -7,7 +7,7 @@
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;C:\\Users\\13752\\STM32CubeIDE\\git\\diaoerqiege\\BHBF_Robot_Lifting_Lug\\Debug\\BHBF_Robot_Lifting_Lug.elf&quot;,&quot;fProjectName&quot;:&quot;BHBF_Robot_Lifting_Lug&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;D:\\music\\huangjiabao_backup\\diaoerqiege\\BHBF_Robot_Lifting_Lug\\Debug\\BHBF_Robot_Lifting_Lug.elf&quot;,&quot;fProjectName&quot;:&quot;BHBF_Robot_Lifting_Lug&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
@ -60,12 +60,12 @@
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="1"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="C:\Users\13752\STM32CubeIDE\git\diaoerqiege\BHBF_Robot_Lifting_Lug\Debug\BHBF_Robot_Lifting_Lug.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="D:\music\huangjiabao_backup\diaoerqiege\BHBF_Robot_Lifting_Lug\Debug\BHBF_Robot_Lifting_Lug.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="BHBF_Robot_Lifting_Lug"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1900810912"/>

23
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
View File

@ -139,6 +139,10 @@ void Mode_Control()
}
extern uint8_t Pin2;
extern uint8_t Pin3;
void IO_Control()
{
GF_BSP_GPIO_SetIO(4, 1);
@ -155,16 +159,17 @@ void IO_Control()
}
Pin2 = GF_BSP_GPIO_ReadIO(2);
Pin3 = GF_BSP_GPIO_ReadIO(3);
}
uint8_t IsAllowRotation_AutoMode = 0;
int32_t knife_descent_height = 0;
// 自动作业停止后默认上升高度为5mm
int32_t knife_rising_height = 500;
int32_t knife_current_altitude = 0;
uint16_t delay_counts = 0;
uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
int32_t knife_descent_height = 0; // 屏幕配置值转换后
int32_t knife_rising_height = 500; // 自动作业停止后默认上升高度为5mm
int32_t knife_current_altitude = 0; // 激光1读数
uint8_t auto_work_mode_states = 5;
uint8_t auto_work_halt_states = 10;
uint8_t auto_work_halt_states = 10;
void Automatic_Operation()
{
@ -174,12 +179,12 @@ void Automatic_Operation()
{
switch(auto_work_mode_states)
{
case 5:
case 5: // 读一下激光高度
knife_current_altitude = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
auto_work_mode_states = 10;
auto_work_halt_states = 10;
break;
case 10:
case 10: // 下刀
IsAllowRotation_AutoMode = Knife_Detection();
if(IsAllowRotation_AutoMode == 1)
{

37
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
View File

@ -228,18 +228,26 @@ static const int32_t SliderSpeed = 50;
const uint32_t up_limit = 6200;
const uint8_t down_limit = 0;
uint8_t Pin2 = -1; //上限位，为0表示限位触发
uint8_t Pin3 = -1; //下限位，为0表示限位触发
void Manual_Up_State_Do(void)
{
int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
GV.LS_FrontEnd_Motor.Target_Position = -10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance >= up_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}*/
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}
void Manual_Down_State_Do(void)
@ -248,13 +256,17 @@ void Manual_Down_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = 10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= down_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}*/
if (!Pin3)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}
// 定义前端升降电机速度，单位0.1mm/s
@ -266,12 +278,17 @@ void Manual_Low_Speed_Up_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = -10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance >= up_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}*/
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}
void Manual_low_speed_Down_State_Do(void)
@ -280,13 +297,17 @@ void Manual_low_speed_Down_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = 10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= down_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}*/
if (!Pin3)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
}

Write Preview
Loading…
Cancel
Save