From 6226c29dc834712b886356b112ad54802848d96e Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Fri, 11 Sep 2026 08:39:29 +0800 Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=A2=9E=E5=8A=A0=E6=80=A5?= =?UTF-8?q?=E5=81=9C=EF=BC=8C=E5=A2=9E=E5=8A=A0=E9=9D=9E=E6=97=A0=E6=A8=A1?= =?UTF-8?q?=E5=BC=8F=E4=B8=8B=E7=9A=84=E6=91=87=E6=9D=86=E9=80=BB=E8=BE=91?= =?UTF-8?q?=EF=BC=88PID=E7=AB=96=E7=9B=B4=E8=A1=8C=E8=B5=B0=EF=BC=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- RBcore/include/BHBF.h | 2 + project/paint_robot_new/paint_robot_new.c | 49 ++++++++++++++++++- .../paint_robot_new/paint_robot_new_motors.c | 12 +++++ 3 files changed, 61 insertions(+), 2 deletions(-) diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h index 8b996ce..e7623c0 100644 --- a/RBcore/include/BHBF.h +++ b/RBcore/include/BHBF.h @@ -77,6 +77,8 @@ typedef enum { COMMON_CMD_STOP_ALL, // 机器人停止（建议各个控制硬件的模块都要实现） MOTOR_START = 0x0100, // *电机命令开始* MOTOR_SET_SPEED, // 设置速度 + MOTOR_POWER_DISABLE, // 电机失电 + MOTOR_POWER_ENABLE, // 电机上电 RBCORE_START = 0x0200, // *机器人共性命令开始* RBCORE_CMD_STOP_ALL, // 此命令统一调用机器人各个模块的COMMON_CMD_STOP_ALL diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index e33f6f9..e4d9028 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -123,6 +123,15 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32)); } + // 急停 + if (g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000) + { + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + break; + } + + // 更新速度旋钮值 int iSpeedSelection = 3 * (g_stMK32.CH11_RD1 + 1000) / 200; int iVehicleSpeed = 1; if (iSpeedSelection > 0) @@ -132,6 +141,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) g_stIV.RobotMoveSpeed = iVehicleSpeed; MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_VEHICLE_SPEED, (void *)&iVehicleSpeed, sizeof(int)); + // 开关喷枪 if (g_stMK32.CH6_SC == -1000) { int paintstate = 0; @@ -143,6 +153,22 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int)); } + // 根据模式判断换道（仅在竖直向左或向右生效） + if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3) + { + if (g_stMK32.CH4_SA == -1000) + { + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNRIGHT, NULL, 0); + break; + } + else if(g_stMK32.CH4_SA == 1000) + { + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNLEFT, NULL, 0); + break; + } + } + + // 自动巡航 if (g_stMK32.CH5_SB == -1000) { MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0); @@ -154,21 +180,40 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) break; } + // 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去 if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance) { MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); break; } + // 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效 + // 摇杆角度死区判断 int angle = atan2(g_stMK32.CH2_LY_V, g_stMK32.CH3_LY_H) * 180 / M_PI; if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0); + if (g_stPV.RunMode == 1) + { + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0); + } + else + { + int iMode[2] = {1, g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration}; + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_VERTICAL, iMode, sizeof(iMode)); + } } else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0); + if (g_stPV.RunMode == 1) + { + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0); + } + else + { + int iMode[2] = {-1 , g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration}; + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_VERTICAL, iMode, sizeof(iMode)); + } } else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance) { diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c index 4e821ff..083f022 100644 --- a/project/paint_robot_new/paint_robot_new_motors.c +++ b/project/paint_robot_new/paint_robot_new_motors.c @@ -72,6 +72,16 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]); break; } + case MOTOR_POWER_ENABLE: + { + HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0); + break; + } + case MOTOR_POWER_DISABLE: + { + HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1); + break; + } case COMMON_CMD_STOP_ALL: { for (int i = 0; i < 2; i++) @@ -116,6 +126,8 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize) void MotorTask(void *argument) { + // 此时消息中心还未就绪，直接调用HAL库接口给电机上电 + HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0); // 初始化FDCAN1，使用雷赛电机的回调 TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0); g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);