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吊耳切割【调通打标】左右滑台用右摇杆左右控制，速度为1mm/s

master
Lizongdi 3 weeks ago
parent
95f0a40a68
commit
8dc1faf2ae
6 changed files with 15 additions and 11 deletions
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  1. 4
      diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
  2. 2
      diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug.ioc
  3. 2
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h
  4. 4
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
  5. 10
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  6. 2
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/usart.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="37924580691053414" 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="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">
<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="37924580691053414" 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="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">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

2
diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug.ioc
View File

@ -878,7 +878,7 @@ USART3.FIFOMode=FIFOMODE_ENABLE
USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate
USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
USART3.VirtualMode-Asynchronous=VM_ASYNC
USART6.BaudRate=115200
USART6.BaudRate=9600
USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
USART6.FIFOMode=FIFOMODE_ENABLE
USART6.IPParameters=VirtualMode,OverrunDisableParam,FIFOMode,DMADisableonRxErrorParam,BaudRate,SwapParam

2
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h
View File

@ -11,6 +11,6 @@
extern uint8_t LS_485Motors_Speed;
extern int16_t LS_485Motors_Speed;
#endif /* BASE_INC_MSP_MSP_LEISAI_485_H_ */

4
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
View File

@ -12,8 +12,8 @@
struct UARTHandler *LS_485Motors_handler;
DispacherController *LS_485Motors_dispacherController;
uint8_t LS_485Motors_slave_id = 0x00; //默认为0 广播形式
uint8_t LS_485Motors_Speed=0;
uint8_t LS_485Motors_slave_id = 0x01; //默认为0 广播形式
int16_t LS_485Motors_Speed=0;
uint8_t speedModeSet=1;
void LS_485Motor_loop();

10
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
View File

@ -13,6 +13,7 @@
#include "robot_state.h"
#include "bsp_TIMER.h"
#include "msp_Strong_grinding_machine.h"
#include "msp_LeiSai_485.h"
void action_perfrom(transition_t transitions[], int length, int state);
@ -460,12 +461,12 @@ void Frontend_Control()
CurrentFrontEndState = Manual_UP_STATE;
return;
}
else if(P_MK32->CH3_LY_H > 100)
else if(P_MK32->CH0_RY_H > 100)
{
// 右转
if((angle >= -45) && (angle <=45))
{
LS_485Motors_Speed = 100;
return;
}
}
@ -478,16 +479,18 @@ void Frontend_Control()
// 左转
else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
{
LS_485Motors_Speed = -100;
return;
}
else {
LS_485Motors_Speed = 0;
CurrentFrontEndState = HALT_STATE;
}
}
// 低速控制前端雷赛电机
else if(GV.MK32_Key.CH5_SB == -1000)
{
LS_485Motors_Speed = 0;
// 前进
if((angle >= 45) && (angle <= 135))
{
@ -521,6 +524,7 @@ void Frontend_Control()
}
else{
LS_485Motors_Speed = 0;
// 前进
if((angle >= 45) && (angle <= 135))
{

2
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/usart.c
View File

@ -372,7 +372,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */
huart6.Instance = USART6;
huart6.Init.BaudRate = 115200;
huart6.Init.BaudRate = 9600;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;

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