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54 lines
2.0 KiB
54 lines
2.0 KiB
3 weeks ago
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/*
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* Function_Booth.h
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*
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* Created on: Mar 21, 2025
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* Author: bihon
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*/
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#ifndef INC_FUNCTION_BOOTH_H_
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#define INC_FUNCTION_BOOTH_H_
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#define JOINT_INQUIRY_INTERVAL 20 //查询关节位置指令间隔时间
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#define WAITING_INITIAL_PAINT 10000 //第一道自动喷漆作业等待时间（发送前往初始喷漆位置指令后）
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#define VEHICLE_MOTION_TIME 5520 //等待大臂车上升/下降时间
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#define PAINTGUN_DELAY_TIME1 500 //喷枪开启延迟时间1（大臂车下降正位置开枪）
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#define PAINTGUN_DELAY_TIME2 500 //喷枪开启延迟时间2（大臂车下降逆位置开枪）
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#define PAINTGUN_DELAY_TIME3 400 //喷枪开启延迟时间1（大臂车上升正位置开枪）
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#define PAINTGUN_DELAY_TIME4 500 //喷枪开启延迟时间2（大臂车上升逆位置开枪）
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#define CYCLE_CHECK_INTERVAL 20 //急停检测计数周期，每20次调用检测一次位置，同时进行位置变化对比
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#define STOP_COUNT_THRESHOLD 5 //触发急停控制的未变化次数（连续5次位置未变化认为发生急停）
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typedef enum
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{
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paint_gun_open, //喷枪开启
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paint_gun_close //喷枪关闭
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}paint_gun_state;
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typedef enum
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{
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notwork, //非工作状态
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decend, //大臂车下降
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ascend //大臂车上升
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}start_position_dir;
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/**
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* @brief 控制喷枪开关
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* @param state 喷枪开关状态，0表示关闭，1表示开启
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*/
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void Paint_Gun_Control(paint_gun_state state);
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void Manual_Control_Mode();//手动控制操作
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void Position_Detect();//超声波测距
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void Elite_Power_On();//伺服上电
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void Elite_Clear_Alarm();//清除报警
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void Elite_Remote_PowerOn();//机械臂远程启动
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void Elite_Remote_PowerOn2();
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uint8_t GoToStartPosition();//前往初始位置
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uint8_t GoToPaintPosition(start_position_dir dir);//前往喷涂起点
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uint8_t GoToStopPosition();//前往停机位置
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uint8_t StartPainting(start_position_dir dir);//喷涂作业启动
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void VehicleConnectDetect();
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uint8_t TrialOperation();
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uint8_t GoToWashGunPosition();
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#endif /* INC_FUNCTION_BOOTH_H_ */
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