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

【编译通过】增加电机脉冲限位

master
Lizongdi 1 month ago
parent
979e6b5819
commit
ecc2c6aa39
2 changed files with 34 additions and 2 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. 32
      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>

32
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
View File

@ -234,6 +234,8 @@ uint8_t Pin3 = -1; //下限位，为0表示限位触发
int32_t KinfePosition = 1000; // 初始化为一个不合理的大值，等于1000时显示为未标定
int StrongSingleShotFlag = 0;
#define SAFE_MOTOR_COUNT (67*20000) // 电机脉冲安全保护，防止光电限位失效后导致的意外情况
void Manual_Up_State_Do(void)
{
int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
@ -252,6 +254,11 @@ void Manual_Up_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
void Manual_Down_State_Do(void)
@ -271,6 +278,11 @@ void Manual_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
// 定义前端升降电机速度，单位0.1mm/s
@ -294,6 +306,11 @@ void Manual_Low_Speed_Up_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
void Manual_low_speed_Down_State_Do(void)
@ -313,6 +330,11 @@ void Manual_low_speed_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
#define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
@ -339,6 +361,11 @@ void Manual_step_Up_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
void Manual_step_Down_State_Do(void)
@ -362,6 +389,11 @@ void Manual_step_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
}
}
void FrontEnd_Halt_State_Do(void)

Write Preview
Loading…
Cancel
Save