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增加超时停车逻辑

paint_robot_new-v1.5
Lizongdi 2 weeks ago
parent
64ea45148c
commit
c6efcef7d9
1 changed files with 148 additions and 59 deletions
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  1. 159
      project/paint_robot_new/paint_robot_new.c

159
project/paint_robot_new/paint_robot_new.c
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@ -47,6 +47,10 @@ 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 = 0; // 喷枪状态，0表示打开，1表示关闭
static int 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，即角度便宜超过多少时间触发停枪
/*----------------------------------------------*
* 常量定义 *
@ -63,6 +67,48 @@ static int32_t RunTime_DistanceCm_SpeedE_2MPMin(void)
return (600 * (g_stPV.LaneChangeDistance + g_stCV.Vertical_ChangeLane_Compensation) / g_stCV.Lane_Change_Speed_m_per_min);
}
static void Move_Halt_AngleError(void)
{
static uint32_t uiLastTime = 0;
if (g_stPV.RunMode != 2 && g_stPV.RunMode != 3)
{
return;
}
if (0 == g_RB_State)
{
return;
}
if (1 == 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);
return;
}
}
else
{
uiLastTime = Rd_GetTime();
}
if ((abs(g_stIV.CurrentAngle - g_stCV.RobotUpAngleValue) > g_stCV.Robot_Permitted_Angler_Error_Value_E_2D) && 0 == g_Paint_State)
{
if(++g_ipaintOffCount > 500)
{
MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
angle_protect_lock = 1;
return;
}
}
else
{
//计数器清零
g_ipaintOffCount = 0;
}
}
static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
if (NULL == pstMsg)
@ -74,12 +120,22 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
static int iRight_Compensation = 0;
switch (pstMsg->m_uiMsgID)
{
case CUSTOM_GET_DAEMON_CODE:
{
if (pstMsg->m_uiDataLen >= sizeof(int32_t))
{
RD_MEMCPY(&g_stIV.SystemError, pstMsg->m_aucData, sizeof(int32_t));
}
break;
}
case CUSTOM_GET_FAULT_CODE:
{
uint32_t uiFailtCode[2] = {0};
if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode))
{
RD_MEMCPY(uiFailtCode, pstMsg->m_aucData, sizeof(uiFailtCode));
if (uiFailtCode[0] == 1) g_stIV.Left_Motor_Err = uiFailtCode[1];
else g_stIV.Right_Motor_Err = uiFailtCode[1];
}
break;
}
@ -210,19 +266,10 @@ 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;
break;
}
// 更新速度旋钮值
int iSpeedSelection = 3 * (g_stMK32.CH11_RD1 + 1000) / 200;
int iVehicleSpeed = 1;
if (iSpeedSelection > 0)
{
iVehicleSpeed = g_stCV.Speed_m_per_min*iSpeedSelection/30;
}
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)
@ -230,39 +277,25 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
&& (g_stMK32.CH6_SC != -1000) )
{
g_stIV.IsWorking = 0;
angle_protect_lock = 0; // 遥控器复位认为打开角度锁
g_ipaintOffCount = 0;
}
else
{
g_stIV.IsWorking = 1;
}
// 开关喷枪
if (g_stPV.RunMode == 1)
{
if (g_stMK32.CH6_SC == -1000)
{
int paintstate = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
}
else
{
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)
// 更新速度旋钮值
int iSpeedSelection = 3 * (g_stMK32.CH11_RD1 + 1000) / 200;
int iVehicleSpeed = 1;
if (iSpeedSelection > 0)
{
int paintstate = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
}
}
CH13_S2_Value = g_stMK32.CH13_S2;
iVehicleSpeed = g_stCV.Speed_m_per_min*iSpeedSelection/30;
}
g_stIV.RobotMoveSpeed = iVehicleSpeed;
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_VEHICLE_SPEED, (void *)&iVehicleSpeed, sizeof(int));
Move_Halt_AngleError();
int iTargetAngle = 0;
// 根据模式判断换道（仅在竖直向左或向右生效）
@ -278,6 +311,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
iTargetAngle = g_stCV.RobotRightAngleValue;
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle));
}
g_RB_State = 0;
break;
}
else if (g_stMK32.CH4_SA == -1000)
@ -292,6 +326,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
iTargetAngle = g_stCV.RobotLeftAngleValue;
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_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
@ -299,6 +334,40 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_RESET_STRAIGHT, NULL, 0);
g_RB_State = 0;
}
}
if (0 == angle_protect_lock)
{
// 开关喷枪
if (g_stPV.RunMode == 1)
{
if (g_stMK32.CH6_SC == -1000)
{
g_Paint_State = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
}
else
{
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)
{
static int CH13_S2_Value = 0;
if (g_stMK32.CH13_S2 != CH13_S2_Value)
{
if(g_stIV.CurrentSpeed != 0)
{
g_Paint_State = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
}
}
CH13_S2_Value = g_stMK32.CH13_S2;
g_RB_State = 0;
}
}
@ -310,6 +379,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
if (0 == angle_protect_lock)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = 1,
@ -318,6 +389,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
break;
}
else if(g_stMK32.CH5_SB == 1000)
@ -327,6 +400,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
if (0 == angle_protect_lock)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = -1,
@ -335,6 +410,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
break;
}
@ -342,6 +419,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
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;
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
@ -356,6 +434,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
if (0 == angle_protect_lock)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = 1,
@ -364,6 +444,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
}
g_RB_State = 1;
}
}
else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance)
{
@ -372,6 +454,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
}
else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
{
if (0 == angle_protect_lock)
{
BHBF_straight_drive_Cmd stCmd = {
.m_iMode = -1,
@ -380,18 +464,23 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
};
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_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;
}
break;
}

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