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

1.增加电机看门狗2.增加前进时界面不可控逻辑3.修复推SB时仍使用手动速度

paint_robot_new-v1.5
Lizongdi 2 weeks ago
parent
2154a75c03
commit
64ea45148c
4 changed files with 86 additions and 29 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. 1
      RBcore/BHBF.c
  2. 1
      RBcore/include/BHBF.h
  3. 62
      project/paint_robot_new/paint_robot_new.c
  4. 35
      project/paint_robot_new/paint_robot_new_motors.c

1
RBcore/BHBF.c
View File

@ -68,6 +68,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
case RBCORE_CMD_STOP_ALL:
{
MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);
break;
}
case RBCORE_GET_TL720D_ROLL:

1
RBcore/include/BHBF.h
View File

@ -78,7 +78,6 @@ typedef enum {
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

62
project/paint_robot_new/paint_robot_new.c
View File

@ -183,6 +183,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
}
break;
}
case COMMON_CMD_STOP_ALL:
{
HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1);
break;
}
case CUSTOM_CMD_PAINTGUN:
{
int paintstate = -1;
@ -218,7 +223,22 @@ 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));
// 按键处于默认位置安卓界面可控
if ((fabs(g_stMK32.CH2_LY_V) <= 200) && (fabs(g_stMK32.CH3_LY_H) <= 200)
&& (fabs(g_stMK32.CH0_RY_H) <= 200) && (fabs(g_stMK32.CH1_RY_V) <= 200)
&& (g_stMK32.CH4_SA ==0) && (g_stMK32.CH5_SB == 0)
&& (g_stMK32.CH6_SC != -1000) )
{
g_stIV.IsWorking = 0;
}
else
{
g_stIV.IsWorking = 1;
}
// 开关喷枪
if (g_stPV.RunMode == 1)
{
if (g_stMK32.CH6_SC == -1000)
{
int paintstate = 0;
@ -229,6 +249,20 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
int paintstate = 1;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
}
}
else if(g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
static int CH13_S2_Value = 0;
if (g_stMK32.CH13_S2 != CH13_S2_Value)
{
if(g_stIV.CurrentSpeed != 0)
{
int paintstate = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
}
}
CH13_S2_Value = g_stMK32.CH13_S2;
}
int iTargetAngle = 0;
// 根据模式判断换道（仅在竖直向左或向右生效）
@ -270,13 +304,37 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
// 自动巡航
if (g_stMK32.CH5_SB == -1000)
{
if (g_stPV.RunMode == 1)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = 1,
.m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration,
.m_iTime = -1
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
break;
}
else if(g_stMK32.CH5_SB == 1000)
{
if (g_stPV.RunMode == 1)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = -1,
.m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration,
.m_iTime = -1
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
break;
}
@ -297,7 +355,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
}
else
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = 1,
@ -313,7 +371,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
}
else
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = -1,

35
project/paint_robot_new/paint_robot_new_motors.c
View File

@ -72,11 +72,6 @@ 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);
@ -84,10 +79,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
}
case COMMON_CMD_STOP_ALL:
{
for (int i = 0; i < 2; i++)
{
MotorMgr_SetTargetSpeed(g_apstMotors[i], 0);
}
memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
break;
}
@ -177,24 +168,32 @@ void MotorTask(void *argument)
while(1)
{
static int LS_Motor_Config_Count = 0;
if (LS_Motor_Config_Count <= 200)
{
LS_Motor_Config_Count++;
MotorMgr_SetWatchdog(g_apstMotors[0], 1000);
Rd_Delay(4);
MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
Rd_Delay(4);
}
// 处理消息
MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
Rd_Delay(10);
MotorMgr_RequestPosition(g_apstMotors[0]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_RequestPosition(g_apstMotors[1]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_RequestFault(g_apstMotors[0]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_RequestFault(g_apstMotors[1]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_RequestVelocity(g_apstMotors[0]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_RequestVelocity(g_apstMotors[1]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
Rd_Delay(10);
Rd_Delay(4);
MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
Rd_Delay(10);
Rd_Delay(4);
}
}

Write Preview
Loading…
Cancel
Save