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54 lines
1.3 KiB
54 lines
1.3 KiB
/*
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* Created on: Oct 18, 2024
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* Author: akeguo
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*/
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#include <logic.h>
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#include <math.h>
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#include "BHBF_ROBOT.h"
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int direction;
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/*
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* @brief 喷漆装置主程序，实现程序状态切换
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*/
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void Decive_MainLoop()
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{
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static int count = 0;
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count++;
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//设备状态切换
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stateMachineLoop();//主程序控制函数
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//测距
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Position_Detect();
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RaspberryGetOffset(GetOffsetFromVehicle());
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if(count == 3)
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{//返回距离信息
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Elevated_Distance_Stutas();//10ms发送一次，向大臂车
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}else if(count >= 5)
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{//返回运行状态
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Elevated_Stutas_Control();//10ms发送一次，向大臂车
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count = 0;//计数置零
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}
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Vehicle_Heart_Beat();//机械臂心跳
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Globle_Time_Count++;//全局计时
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VehicleConnectDetect();//大臂车心跳检测
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}
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/*
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* @brief 喷漆装置初始化函数
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* @note 主循环每2ms运行一次
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*/
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void Painting_Device_Init()
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{
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//为大臂车分配CAN1接口
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Elevator_Connection_Init(&FD_CAN_2_Handler);
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//为机械臂分配串口2
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Elite_initialize(&RS_485_2_UART_Handler);
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//为树莓派分配串口1
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Raspberry_initialize(&RS_485_1_UART_Handler);
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//为超声波测距传感器分配串口4
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Sonic_intialize(&RS_485_4_UART_Handler);
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// Elite_Remote_PowerOn2();
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//主程序每2ms调度一次
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GF_BSP_Interrupt_Add_CallBack(
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DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback,
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Decive_MainLoop
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);
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}
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