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

【调通打标】解决步进时单步标志位失效问题。

master
Lizongdi 1 month ago
parent
e7506f92cd
commit
f38b9ec106
3 changed files with 23 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. 14
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  3. 11
      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="-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">
<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">
<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="-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">
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

14
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
View File

@ -340,10 +340,10 @@ int Knife_Detection(void)
}
extern int32_t KinfePosition;
extern int StrongSingleShotFlag;
void Frontend_Control()
{
static int SingleShotFlag = 0;
int angle;
angle = atan2(GV.MK32_Key.CH1_RY_V, GV.MK32_Key.CH0_RY_H) * 180 / M_PI;
@ -419,13 +419,8 @@ void Frontend_Control()
else{
// 前进
if((angle >= 45) && (angle <= 135))
{
if (SingleShotFlag == 0)
{
CurrentFrontEndState = MANUAL_STEP_UP_STATE;
KinfePosition -= GV.PV.step_len;
SingleShotFlag = 1;
}
return;
}
else if(P_MK32->CH3_LY_H > 100)
@ -439,13 +434,8 @@ void Frontend_Control()
}
// 后退
else if((angle >= -135) && (angle < -45))
{
if (SingleShotFlag == 0)
{
CurrentFrontEndState = MANUAL_STEP_DOWN_STATE;
KinfePosition += GV.PV.step_len;
SingleShotFlag = 1;
}
return;
}
// 左转
@ -456,7 +446,7 @@ void Frontend_Control()
}
else {
CurrentFrontEndState = HALT_STATE;
SingleShotFlag = 0;
StrongSingleShotFlag = 0;
}
}

11
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
View File

@ -232,6 +232,7 @@ 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
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;
void Manual_Up_State_Do(void)
{
@ -333,10 +334,15 @@ void Manual_low_speed_Down_State_Do(void)
#define STEP_LEN_COUNT 18000 // 位置环每18000个count对应1mm
void Manual_step_Up_State_Do(void)
{
if (StrongSingleShotFlag == 0)
{
int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position - (GV.PV.step_len * STEP_LEN_COUNT);
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
KinfePosition -= GV.PV.step_len;
StrongSingleShotFlag = 1;
}
/*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)
@ -353,10 +359,15 @@ void Manual_step_Up_State_Do(void)
}
void Manual_step_Down_State_Do(void)
{
if (StrongSingleShotFlag == 0)
{
int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position + (GV.PV.step_len * STEP_LEN_COUNT);
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
KinfePosition += GV.PV.step_len;
StrongSingleShotFlag = 1;
}
/*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)

Write Preview
Loading…
Cancel
Save