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【编译通过】将刀具位置修改为读取位置

master
Lizongdi 1 month ago
parent
f38b9ec106
commit
f5d0e9108c
4 changed files with 8 additions and 26 deletions
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  1. 4
      diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
  2. 2
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
  3. 26
      diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
  4. 2
      diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java

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>

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

@ -467,7 +467,7 @@ void IV_Control()
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;
IV.kinfe_complete_signal = IsAllowRotation;
IV.kinfe_position = KinfePosition;
IV.kinfe_position = (KinfePosition == 1000) ? KinfePosition : (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition);// 这里上传的是原始数据，需要APP上缩小20000倍
}
void Robot_Control()

26
diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
View File

@ -250,11 +250,7 @@ void Manual_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = 0;
}
else
{
KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@ -275,10 +271,6 @@ void Manual_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
else
{
KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
}
}
// 定义前端升降电机速度，单位0.1mm/s
@ -300,11 +292,7 @@ void Manual_Low_Speed_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = 0;
}
else
{
KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@ -325,13 +313,9 @@ void Manual_low_speed_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
else
{
KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
}
}
#define STEP_LEN_COUNT 18000 // 位置环每18000个count对应1mm
#define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
void Manual_step_Up_State_Do(void)
{
@ -340,7 +324,6 @@ void Manual_step_Up_State_Do(void)
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;
}
@ -354,7 +337,7 @@ void Manual_step_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
KinfePosition = 0;
KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@ -365,7 +348,6 @@ void Manual_step_Down_State_Do(void)
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;
}

2
diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
View File

@ -364,7 +364,7 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
}
else
{
activityPolish.mainBinding.kinfePosition.setText(String.format("%d", _toReceiveIV1.getKinfePosition()));
activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
}
}
}

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