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整理多余变量并将停止逻辑归一化

paint_robot_new-v1.5
Lizongdi 2 weeks ago
parent
d005912874
commit
a71799675b
4 changed files with 10 additions and 40 deletions
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  1. 5
      RBcore/BHBF.c
  2. 1
      RBcore/include/BHBF.h
  3. 39
      project/paint_robot_new/paint_robot_new.c
  4. 5
      project/paint_robot_new/paint_robot_new_motors.c

5
RBcore/BHBF.c
View File

@ -61,8 +61,9 @@ 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);
aiMotorSpeed[0] = 0;
aiMotorSpeed[1] = 0;
MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
break;
}
case RBCORE_CMD_MANUAL_FORWARD:

1
RBcore/include/BHBF.h
View File

@ -76,7 +76,6 @@ extern "C"{
typedef enum {
COMMON_CMD_SHOW_INFO, // 终端信息展示
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_ENABLE, // 电机上电

39
project/paint_robot_new/paint_robot_new.c
View File

@ -47,7 +47,6 @@ static uint32_t g_uiCustomModuleID = 0;
static SP_MSP_MK32_Button g_stMK32;
static PV_struct_define g_stPV;
static IV_struct_define g_stIV;
static int g_RB_State = 0; // 机器人状态，1表示处于竖直行走模式下
static int g_Paint_State = -1; // 喷枪状态，0表示打开，1表示关闭
static int g_angle_protect_lock = 0; // 为1表示角度异常，触发停车逻辑Move_Halt_AngleError
static int g_ipaintOffCount = 0; // Move_Halt_AngleError中的计时，即角度偏移超过多少时间触发停枪
@ -76,16 +75,11 @@ static void Move_Halt_AngleError(void)
return;
}
if (0 == g_RB_State)
{
return;
}
if (1 == g_angle_protect_lock)
{
if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed)
{
MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
}
return;
}
@ -98,7 +92,8 @@ static void Move_Halt_AngleError(void)
{
if(Rd_GetTime() - g_ipaintOffCount > 1000)
{
MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
g_Paint_State = 1;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
g_angle_protect_lock = 1;
return;
}
@ -245,12 +240,6 @@ 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);
g_Paint_State = 1;
break;
}
case CUSTOM_CMD_PAINTGUN:
{
int paintstate = -1;
@ -290,7 +279,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
g_RB_State = 0;
g_Is_All_Button_Reset = 0;
break;
}
@ -335,7 +323,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
iTargetAngle = g_stCV.RobotRightAngleValue;
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle));
}
g_RB_State = 0;
break;
}
else if (g_stMK32.CH4_SA == -1000)
@ -350,7 +337,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
iTargetAngle = g_stCV.RobotLeftAngleValue;
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle));
}
g_RB_State = 0;
break;
}
else // 重置前进计时器以便下一次换道重新计数
@ -358,7 +344,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_RESET_STRAIGHT, NULL, 0);
g_RB_State = 0;
}
}
@ -377,7 +362,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
g_Paint_State = 1;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
}
g_RB_State = 0;
}
else if(g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
@ -391,7 +375,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
}
}
CH13_S2_Value = g_stMK32.CH13_S2;
g_RB_State = 0;
}
}
@ -414,7 +397,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
break;
}
@ -436,7 +418,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
break;
}
@ -444,8 +425,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
// 【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_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
g_RB_State = 0;
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
@ -471,7 +451,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
}
else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance)
@ -492,23 +471,19 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
}
else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNRIGHT, NULL, 0);
g_RB_State = 0;
}
else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNLEFT, NULL, 0);
g_RB_State = 0;
}
else
{
MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
g_RB_State = 0;
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
}
break;
}
@ -534,8 +509,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
lua_print("PV Info\n");
lua_print("{%d, %d, %d, %d, %d, %ld}\n",
g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (long long)g_stPV.TimeStamp);
lua_print("g_RB_State = %d\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n",
g_RB_State, g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset);
lua_print("\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n",
g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset);
break;
}
default:

5
project/paint_robot_new/paint_robot_new_motors.c
View File

@ -83,11 +83,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1);
break;
}
case COMMON_CMD_STOP_ALL:
{
memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
break;
}
default:
break;
}

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