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L1NG\42961 6 hours ago
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12 changed files with 161 additions and 86 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      Core/BASE/Protobuf/PSource/bsp_GV.pb.h
  3. 14
      Core/BASE/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h
  4. 2
      Core/BASE/Protobuf/Proto/msp_ZQ_MotorParameters.proto
  5. 2
      Core/FSM/Inc/robot_move_actions.h
  6. 4
      Core/FSM/Inc/swing_action.h
  7. 1
      Core/FSM/Src/Handset_Status_Setting.c
  8. 2
      Core/FSM/Src/fsm_state_control.c
  9. 5
      Core/FSM/Src/motor.c
  10. 150
      Core/FSM/Src/robot_move_actions.c
  11. 55
      Core/FSM/Src/swing_action.c
  12. 6
      疑问记录.txt

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1562461444099266630" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1562461444099266630" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

2
Core/BASE/Protobuf/PSource/bsp_GV.pb.h
View File

@ -116,7 +116,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
/* Maximum encoded size of messages (where known) */ /* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size #define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
#define GV_struct_define_size 1714 #define GV_struct_define_size 1768
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

14
Core/BASE/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h
View File

@ -39,6 +39,8 @@ typedef struct _TT_MotorParameters {
int32_t Position_immediately1_Lag2; /* 位置环模式，立即生效1，延后生效2 */ int32_t Position_immediately1_Lag2; /* 位置环模式，立即生效1，延后生效2 */
int32_t Tar_Position_count; /* 位置环模式，期望位置 */ int32_t Tar_Position_count; /* 位置环模式，期望位置 */
int32_t Tar_Position_Velcity_RPM; /* 位置环模式，速度 */ int32_t Tar_Position_Velcity_RPM; /* 位置环模式，速度 */
float Tar_Position_angle; /* 位置环模式，期望角度 */
int32_t Tar_Position_Velcity_Degree_S; /* 位置环模式，速度(m/min) */
} TT_MotorParameters; } TT_MotorParameters;
@ -47,8 +49,8 @@ extern "C" {
#endif #endif
/* Initializer values for message structs */ /* Initializer values for message structs */
#define TT_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} #define TT_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define TT_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} #define TT_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */ /* Field tags (for use in manual encoding/decoding) */
#define TT_MotorParameters_MotorID_tag 1 #define TT_MotorParameters_MotorID_tag 1
@ -79,6 +81,8 @@ extern "C" {
#define TT_MotorParameters_Position_immediately1_Lag2_tag 46 #define TT_MotorParameters_Position_immediately1_Lag2_tag 46
#define TT_MotorParameters_Tar_Position_count_tag 47 #define TT_MotorParameters_Tar_Position_count_tag 47
#define TT_MotorParameters_Tar_Position_Velcity_RPM_tag 49 #define TT_MotorParameters_Tar_Position_Velcity_RPM_tag 49
#define TT_MotorParameters_Tar_Position_angle_tag 50
#define TT_MotorParameters_Tar_Position_Velcity_Degree_S_tag 51
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define TT_MotorParameters_FIELDLIST(X, a) \ #define TT_MotorParameters_FIELDLIST(X, a) \
@ -109,7 +113,9 @@ X(a, STATIC, SINGULAR, DOUBLE, Real_Disatnce, 44) \
X(a, STATIC, SINGULAR, INT32, Start_Measuring, 45) \ X(a, STATIC, SINGULAR, INT32, Start_Measuring, 45) \
X(a, STATIC, SINGULAR, INT32, Position_immediately1_Lag2, 46) \ X(a, STATIC, SINGULAR, INT32, Position_immediately1_Lag2, 46) \
X(a, STATIC, SINGULAR, INT32, Tar_Position_count, 47) \ X(a, STATIC, SINGULAR, INT32, Tar_Position_count, 47) \
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_RPM, 49) X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_RPM, 49) \
X(a, STATIC, SINGULAR, FLOAT, Tar_Position_angle, 50) \
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_Degree_S, 51)
#define TT_MotorParameters_CALLBACK NULL #define TT_MotorParameters_CALLBACK NULL
#define TT_MotorParameters_DEFAULT NULL #define TT_MotorParameters_DEFAULT NULL
@ -120,7 +126,7 @@ extern const pb_msgdesc_t TT_MotorParameters_msg;
/* Maximum encoded size of messages (where known) */ /* Maximum encoded size of messages (where known) */
#define MSP_ZQ_MOTORPARAMETERS_PB_H_MAX_SIZE TT_MotorParameters_size #define MSP_ZQ_MOTORPARAMETERS_PB_H_MAX_SIZE TT_MotorParameters_size
#define TT_MotorParameters_size 328 #define TT_MotorParameters_size 346
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

2
Core/BASE/Protobuf/Proto/msp_ZQ_MotorParameters.proto
View File

@ -31,6 +31,8 @@ message TT_MotorParameters {
int32 Tar_Position_Velcity_RPM=49; //位置环模式，速度 int32 Tar_Position_Velcity_RPM=49; //位置环模式，速度
double Real_Disatnce=44; double Real_Disatnce=44;
int32 Start_Measuring=45;//开始测距 int32 Start_Measuring=45;//开始测距
float Tar_Position_angle=50; //位置环模式，期望角度
int32 Tar_Position_Velcity_Degree_S=51; //位置环模式，速度(m/min)
} }

2
Core/FSM/Inc/robot_move_actions.h
View File

@ -23,7 +23,7 @@ void Turn_Left(void);
/* 状态机驱动函数（需外部调用） */ /* 状态机驱动函数（需外部调用） */
void Move_Horizontal_Auto_Sub_Func(void); /* 水平自动运行主状态机 */ void Move_Horizontal_Auto_Sub_Func(void); /* 水平自动运行主状态机 */
void Vertical_Left_Func(void); /* 垂直左换道状态机（注意：该函数实际使用换道状态表，需确认命名） */ void Change_Road_Func(void); /* 垂直左换道状态机（注意：该函数实际使用换道状态表，需确认命名） */
void horizontal_forward(void); /* 水平前进（PID控制） */ void horizontal_forward(void); /* 水平前进（PID控制） */
void vertical_forward(void); /* 垂直前进（PID控制） */ void vertical_forward(void); /* 垂直前进（PID控制） */

4
Core/FSM/Inc/swing_action.h
View File

@ -9,8 +9,8 @@
#define FSM_INC_SWING_ACTION_H_ #define FSM_INC_SWING_ACTION_H_
extern int limit_record; extern int limit_record;
extern int left_compare_value; extern float left_compare_value;
extern int right_compare_value; extern float right_compare_value;
extern void Robot_Swing_Operation_Function(); extern void Robot_Swing_Operation_Function();

1
Core/FSM/Src/Handset_Status_Setting.c
View File

@ -154,6 +154,7 @@ static InputEvent CalculateRockerEvent(void)
static InputEvent GetHaltModeEvents(void) static InputEvent GetHaltModeEvents(void)
{ {
InputEvent key = CheckAllKeys(); InputEvent key = CheckAllKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }

2
Core/FSM/Src/fsm_state_control.c
View File

@ -161,7 +161,7 @@ static void horizontal_auto_group(void)
} }
static void change_Road_group(void) static void change_Road_group(void)
{ {
Vertical_Left_Func(); Change_Road_Func();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }

5
Core/FSM/Src/motor.c
View File

@ -17,6 +17,9 @@ char TT_Motor_Need_To_Activate = 1;
char TT_Motor_Need_To_Activate_1 = 1; char TT_Motor_Need_To_Activate_1 = 1;
float Move_Base_Speed_Count_m_Min=201.7*7.64;//天太电机1m/min float Move_Base_Speed_Count_m_Min=201.7*7.64;//天太电机1m/min
float Swing_Speed_Deg_Sencond_motor=201.7;//HJ32-121
int middle_position_motor=-944334;
#define TT_One_Deg_Count_motor 11014///32768*121/360(减速比121)=11014
//MotorParameters *TT_Motor[7]; //MotorParameters *TT_Motor[7];
@ -120,6 +123,8 @@ void MotorCommandsLoop()
void MotorCommandsLoop_2_Position() void MotorCommandsLoop_2_Position()
{ {
GV.SwingMotor.Tar_Position_count=(int32_t)(middle_position_motor-GV.SwingMotor.Tar_Position_angle*TT_One_Deg_Count_motor);
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.SwingMotor.Tar_Position_Velcity_Degree_S*Swing_Speed_Deg_Sencond_motor;
if (TT_Motor_Need_To_Activate_1 == 1) if (TT_Motor_Need_To_Activate_1 == 1)
{ {

150
Core/FSM/Src/robot_move_actions.c
View File

@ -20,6 +20,7 @@
/*=========================== 2.宏定义 ===========================*/ /*=========================== 2.宏定义 ===========================*/
/* 姿态控制常量（用于 Robot_Posture_Adjus_Gravity） */ /* 姿态控制常量（用于 Robot_Posture_Adjus_Gravity） */
#define TT_One_Deg_Count2 11014
#define POSTURE_ERROR_THRESHOLD 5.0f /* 姿态调整误差阈值（度） */ #define POSTURE_ERROR_THRESHOLD 5.0f /* 姿态调整误差阈值（度） */
#define ANGLE_NORMALIZE_BOUNDARY 180.0f /* 角度归一化边界 */ #define ANGLE_NORMALIZE_BOUNDARY 180.0f /* 角度归一化边界 */
#define SPEED_FACTOR_LARGE 1.0f /* 大误差速度系数 */ #define SPEED_FACTOR_LARGE 1.0f /* 大误差速度系数 */
@ -76,6 +77,9 @@ enum swing_state {
////局部静态变量 ////局部静态变量
/* 状态机当前状态（多个状态机共用，可能存在潜在冲突，但是现在还不知道咋搞呢） */ /* 状态机当前状态（多个状态机共用，可能存在潜在冲突，但是现在还不知道咋搞呢） */
int s_currentState = STATE_ATTITUDE_JUDGE; int s_currentState = STATE_ATTITUDE_JUDGE;
int horizontal_s_currentState = STATE_ATTITUDE_JUDGE;
int vertical_s_currentState = STATE_ATTITUDE_JUDGE;
int ChangeRoad_currentState = STATE_ATTITUDE_JUDGE;
int swing_currentState = SWING_START_STATE; int swing_currentState = SWING_START_STATE;
/* 换道计时变量 */ /* 换道计时变量 */
@ -87,12 +91,20 @@ static float LEFT_TARGET_ANGLES[2];
int Change_stop_flag=0; int Change_stop_flag=0;
static int S1_Last_Value;
static int S2_Last_Value;
int center_angle;
int offset_angle;
int center_position; //中间位置-944334
/*===========================5. 静态函数声明 ===========================*/ /*===========================5. 静态函数声明 ===========================*/
/* 水平/垂直状态机函数 */ /* 水平/垂直状态机函数 */
static void handleAttitudeJudge_horizontal(void); static void handleAttitudeJudge_horizontal(void);
static void handleAttitudeJudge_vertical(void); static void handleAttitudeJudge_vertical(void);
static void handleAttitudeAdjust(void); static void handleAttitudeAdjustHorizontal(void);
static void handleAttitudeAdjustVertical(void);
static void handleAttitudeAdjustChangeRoad(void);
static void handleWorkWay(void); static void handleWorkWay(void);
void horizontal_work(void); void horizontal_work(void);
@ -116,6 +128,7 @@ void swing_work(void);
static void swing_start_move(void); static void swing_start_move(void);
static void swing_left_move(void); static void swing_left_move(void);
static void swing_right_move(void); static void swing_right_move(void);
static void get_swing_mode(void);
/* PID系数 */ /* PID系数 */
@ -129,7 +142,7 @@ int factor_2= -1;
*/ */
static const void (*const horizontal_single_lane_auto_operation[])(void) = { static const void (*const horizontal_single_lane_auto_operation[])(void) = {
[STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_horizontal, [STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_horizontal,
[STATE_ATTITUDE_ADJUST] = handleAttitudeAdjust, [STATE_ATTITUDE_ADJUST] = handleAttitudeAdjustHorizontal,
[STATE_WORK_WAY_OR_DIRECT_MOVE] = handleWorkWay, [STATE_WORK_WAY_OR_DIRECT_MOVE] = handleWorkWay,
[STATE_FIGHT_ALTERNATELY] = NULL, /* 待实现 */ [STATE_FIGHT_ALTERNATELY] = NULL, /* 待实现 */
[STATE_FIGHT_RETREATING] = Fight_Countinus_Function_Horizontal, /* 待实现 */ [STATE_FIGHT_RETREATING] = Fight_Countinus_Function_Horizontal, /* 待实现 */
@ -141,7 +154,7 @@ static const void (*const horizontal_single_lane_auto_operation[])(void) = {
*/ */
static const void (*const robot_horizontal_drive[])(void) = { static const void (*const robot_horizontal_drive[])(void) = {
[STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_horizontal, [STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_horizontal,
[STATE_ATTITUDE_ADJUST] = handleAttitudeAdjust, [STATE_ATTITUDE_ADJUST] = handleAttitudeAdjustHorizontal,
[STATE_WORK_WAY_OR_DIRECT_MOVE] = auto_drive_pid_horizontal, [STATE_WORK_WAY_OR_DIRECT_MOVE] = auto_drive_pid_horizontal,
[STATE_HALT] = handleHalt, [STATE_HALT] = handleHalt,
}; };
@ -153,7 +166,7 @@ static const void (*const robot_horizontal_drive[])(void) = {
*/ */
static const void (*const robot_vertical_drive[])(void) = { static const void (*const robot_vertical_drive[])(void) = {
[STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_vertical, [STATE_ATTITUDE_JUDGE] = handleAttitudeJudge_vertical,
[STATE_ATTITUDE_ADJUST] = handleAttitudeAdjust, [STATE_ATTITUDE_ADJUST] = handleAttitudeAdjustVertical,
[STATE_WORK_WAY_OR_DIRECT_MOVE] = auto_drive_pid_vertical, [STATE_WORK_WAY_OR_DIRECT_MOVE] = auto_drive_pid_vertical,
[STATE_HALT] = handleHalt, [STATE_HALT] = handleHalt,
}; };
@ -163,10 +176,10 @@ static const void (*const robot_vertical_drive[])(void) = {
*/ */
static const void (*const vertical_lane_change_left[])(void) = { static const void (*const vertical_lane_change_left[])(void) = {
[LANE_CHANGE_STATE_ATTITUDE_JUDGE] = handleLaneChangeAttitudeJudgeLeft, [LANE_CHANGE_STATE_ATTITUDE_JUDGE] = handleLaneChangeAttitudeJudgeLeft,
[LANE_CHANGE_STATE_ATTITUDE_ADJUST] = handleAttitudeAdjust, [LANE_CHANGE_STATE_ATTITUDE_ADJUST] = handleAttitudeAdjustChangeRoad,
[LANE_CHANGE_STATE_CALC_RETREAT_TIME] = handleLaneChangeCalcRetreatTime, [LANE_CHANGE_STATE_CALC_RETREAT_TIME] = handleLaneChangeCalcRetreatTime,
[LANE_CHANGE_STATE_CONTINUOUS_RETREAT] = handleLaneChangeContinuousRetreat, [LANE_CHANGE_STATE_CONTINUOUS_RETREAT] = handleLaneChangeContinuousRetreat,
[LANE_CHANGE_STATE_RETREAT_DONE_SWITCH] = handleAttitudeAdjust, [LANE_CHANGE_STATE_RETREAT_DONE_SWITCH] = handleAttitudeAdjustChangeRoad,
[STATE_HALT] = handleHalt, [STATE_HALT] = handleHalt,
}; };
@ -213,6 +226,7 @@ void Turn_Right(void)
void Robot_Stop(void) void Robot_Stop(void)
{ {
get_swing_mode();
Robot_Swing_Operation_Function(); Robot_Swing_Operation_Function();
GV.Left_Speed_M_min = 0; GV.Left_Speed_M_min = 0;
GV.Right_Speed_M_min = 0; GV.Right_Speed_M_min = 0;
@ -249,12 +263,31 @@ void Robot_Posture_Adjus_Gravity(float *pError)
} }
static void handleAttitudeAdjust(void) static void handleAttitudeAdjustHorizontal(void)
{ {
float errorAbs; float errorAbs;
Robot_Posture_Adjus_Gravity(&errorAbs); Robot_Posture_Adjus_Gravity(&errorAbs);
if (errorAbs < ANGLE_ERROR_THRESHOLD) { if (errorAbs < ANGLE_ERROR_THRESHOLD) {
s_currentState++; horizontal_s_currentState++;
}
}
static void handleAttitudeAdjustVertical(void)
{
float errorAbs;
Robot_Posture_Adjus_Gravity(&errorAbs);
if (errorAbs < ANGLE_ERROR_THRESHOLD) {
vertical_s_currentState++;
}
}
static void handleAttitudeAdjustChangeRoad(void)
{
float errorAbs;
Robot_Posture_Adjus_Gravity(&errorAbs);
if (errorAbs < ANGLE_ERROR_THRESHOLD) {
ChangeRoad_currentState++;
} }
} }
/*----------------------------------------------------------------- /*-----------------------------------------------------------------
@ -269,7 +302,7 @@ static void handleAttitudeJudge_horizontal(void)
} else { } else {
GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f; GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f;
} }
s_currentState = STATE_ATTITUDE_ADJUST; horizontal_s_currentState = STATE_ATTITUDE_ADJUST;
} }
static void handleAttitudeJudge_vertical(void) static void handleAttitudeJudge_vertical(void)
@ -284,18 +317,18 @@ static void handleAttitudeJudge_vertical(void)
GV.Robot_Angle_Desire -= 360.0f; GV.Robot_Angle_Desire -= 360.0f;
} }
} }
s_currentState = STATE_ATTITUDE_ADJUST; vertical_s_currentState = STATE_ATTITUDE_ADJUST;
} }
static void handleWorkWay(void) static void handleWorkWay(void)
{ {
int mode = (int)GV.PV.Robot_backMode; int mode = GV.PV.Robot_backMode;
if (mode == 1) { if (mode == 1) {
s_currentState = STATE_FIGHT_ALTERNATELY; horizontal_s_currentState = STATE_FIGHT_ALTERNATELY;
} else if (mode == 2) { } else if (mode == 2) {
s_currentState = STATE_FIGHT_RETREATING; horizontal_s_currentState = STATE_FIGHT_RETREATING;
} }
/* 其他模式保持当前状态？目前没有 else，可能默认留在该状态 */ /* 其他模式保持当前状态？目前没有 else，可能默认留在该状态 */
} }
@ -310,7 +343,7 @@ static void handleLaneChangeAttitudeJudgeLeft(void)
Change_stop_flag=0; Change_stop_flag=0;
get_ChangeAngle(); get_ChangeAngle();
GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[0]; GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[0];
s_currentState = LANE_CHANGE_STATE_ATTITUDE_ADJUST; ChangeRoad_currentState = LANE_CHANGE_STATE_ATTITUDE_ADJUST;
} }
} }
@ -345,16 +378,19 @@ void get_ChangeAngle(void)
} }
} }
float distanceM;
static void handleLaneChangeCalcRetreatTime(void) static void handleLaneChangeCalcRetreatTime(void)
{ {
float distanceM; //float distanceM;
if(GV.PV.Robot_Operation_Mode==2)//水平 if(GV.PV.Robot_Operation_Mode==2)//水平
{ {
distanceM = ((float)GV.LaneChangeDistance * 0.01f-B_OF_DIS_HOR)/K_OF_DIS_HOR; /* 厘米 → 米 */ distanceM = ((float)GV.LaneChangeDistance-B_OF_DIS_HOR)/K_OF_DIS_HOR; /* 厘米 → 米 */
distanceM=distanceM * 0.01f;
} }
else if(GV.PV.Robot_Operation_Mode==4||GV.PV.Robot_Operation_Mode==5) //竖直 else if(GV.PV.Robot_Operation_Mode==4||GV.PV.Robot_Operation_Mode==5) //竖直
{ {
distanceM = ((float)GV.LaneChangeDistance * 0.01f-B_OF_DIS_VER)/K_OF_DIS_VER; /* 厘米 → 米 */ distanceM = ((float)GV.LaneChangeDistance-B_OF_DIS_VER)/K_OF_DIS_VER; /* 厘米 → 米 */
distanceM=distanceM * 0.01f;
} }
float timeSec = distanceM / LANE_CHANGE_SPEED; /* 秒 */ float timeSec = distanceM / LANE_CHANGE_SPEED; /* 秒 */
float timeMs = timeSec * 60.0f * 1000.0f; /* 毫秒 */ float timeMs = timeSec * 60.0f * 1000.0f; /* 毫秒 */
@ -363,11 +399,11 @@ static void handleLaneChangeCalcRetreatTime(void)
uint32_t tickNow = HAL_GetTick(); uint32_t tickNow = HAL_GetTick();
s_retreatStartTick = tickNow; s_retreatStartTick = tickNow;
s_currentState = LANE_CHANGE_STATE_CONTINUOUS_RETREAT; ChangeRoad_currentState = LANE_CHANGE_STATE_CONTINUOUS_RETREAT;
if(P_MK32->CH4_SA == -1000&&Change_stop_flag==1) if(P_MK32->CH4_SA == -1000&&Change_stop_flag==1)
{ {
s_currentState = LANE_CHANGE_STATE_ATTITUDE_JUDGE; ChangeRoad_currentState = LANE_CHANGE_STATE_ATTITUDE_JUDGE;
} }
} }
@ -378,7 +414,7 @@ static void handleLaneChangeContinuousRetreat(void)
auto_drive_pid_vertical(); auto_drive_pid_vertical();
if ((tickNow - s_retreatStartTick) >= s_retreatDurationTicks) { if ((tickNow - s_retreatStartTick) >= s_retreatDurationTicks) {
s_currentState++; ChangeRoad_currentState++;
GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[1]; GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[1];
} }
} }
@ -404,10 +440,11 @@ void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void)
int present_angle;
static void swing_start_move(void) static void swing_start_move(void)
{ {
if(GV.SwingMotor.Real_Position<=left_compare_value-20000) present_angle=-(GV.SwingMotor.Real_Position+944334)/11014;
if(present_angle>=left_compare_value+2)
{ {
swing_currentState=SWING_LEFT_MOVE; swing_currentState=SWING_LEFT_MOVE;
Move_Swing_Left_Func_Do_imm(); Move_Swing_Left_Func_Do_imm();
@ -422,7 +459,8 @@ static void swing_start_move(void)
static void swing_left_move(void) static void swing_left_move(void)
{ {
if(GV.SwingMotor.Real_Position>left_compare_value-10000) present_angle=-(GV.SwingMotor.Real_Position+944334)/11014;
if(present_angle<=left_compare_value+1)
{ {
Move_Swing_Right_Func_Do_lay(); Move_Swing_Right_Func_Do_lay();
swing_currentState=SWING_RIGHT_MOVE; swing_currentState=SWING_RIGHT_MOVE;
@ -433,7 +471,8 @@ static void swing_left_move(void)
static void swing_right_move(void) static void swing_right_move(void)
{ {
if(GV.SwingMotor.Real_Position<right_compare_value+10000) present_angle=-(GV.SwingMotor.Real_Position+944334)/11014;
if(present_angle>right_compare_value-1)
{ {
Move_Swing_Left_Func_Do_lay(); Move_Swing_Left_Func_Do_lay();
swing_currentState=SWING_LEFT_MOVE; swing_currentState=SWING_LEFT_MOVE;
@ -441,6 +480,37 @@ static void swing_right_move(void)
} }
static void get_swing_mode(void)
{
if(GV.PV.Robot_symmetricalOrNot==1)
{
if(GV.PV.Robot_Swing_Range_Angle!=offset_angle)
{
offset_angle=GV.PV.Robot_Swing_Range_Angle;
center_angle=-(GV.SwingMotor.Real_Position+944334)/TT_One_Deg_Count2;
}
left_compare_value=center_angle-offset_angle/2;
right_compare_value=center_angle+offset_angle/2;
}
else if(GV.PV.Robot_symmetricalOrNot==2) //非对称式
{
if(P_MK32->CH12_S1!=S1_Last_Value)
{
left_compare_value=-(GV.SwingMotor.Real_Position+944334)/11014;
}
else if(P_MK32->CH13_S2!=S2_Last_Value)
{
right_compare_value=-(GV.SwingMotor.Real_Position+944334)/11014;
}
S1_Last_Value=P_MK32->CH12_S1;
S2_Last_Value=P_MK32->CH13_S2;
}
}
/*----------------------------------------------------------------- /*-----------------------------------------------------------------
* PID驱动及停机处理 * PID驱动及停机处理
*-----------------------------------------------------------------*/ *-----------------------------------------------------------------*/
@ -473,20 +543,23 @@ static void handleHalt(void)
GV.Right_Speed_M_min = 0; GV.Right_Speed_M_min = 0;
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Target_Velcity=0; GV.SwingMotor.Target_Velcity=0;
horizontal_s_currentState = 0;
vertical_s_currentState = 0;
ChangeRoad_currentState = 0;
s_currentState = 0; s_currentState = 0;
} }
/*=========================== 8.对外接口函数（需外部调用） ===========================*/ /*=========================== 8.对外接口函数（需外部调用） ===========================*/
void Move_Horizontal_Auto_Init(void) void Move_Horizontal_Auto_Init(void)
{ {
s_currentState = STATE_ATTITUDE_JUDGE; horizontal_s_currentState = STATE_ATTITUDE_JUDGE;
} }
void Move_Horizontal_Auto_Sub_Func(void) void Move_Horizontal_Auto_Sub_Func(void)
{ {
if (s_currentState >= 0 && s_currentState < STATE_COUNT) { if (horizontal_s_currentState >= 0 && horizontal_s_currentState < STATE_COUNT) {
if (horizontal_single_lane_auto_operation[s_currentState] != NULL) { if (horizontal_single_lane_auto_operation[horizontal_s_currentState] != NULL) {
horizontal_single_lane_auto_operation[s_currentState](); horizontal_single_lane_auto_operation[horizontal_s_currentState]();
} else { } else {
/* 遇到未实现的状态，停机处理 */ /* 遇到未实现的状态，停机处理 */
handleHalt(); handleHalt();
@ -496,11 +569,11 @@ void Move_Horizontal_Auto_Sub_Func(void)
} }
} }
void Vertical_Left_Func(void) void Change_Road_Func(void)
{ {
/* 注意：此函数实际使用换道状态表，但命名可能引起混淆，建议后续改为垂直换道相关名称 */ /* 注意：此函数实际使用换道状态表，但命名可能引起混淆，建议后续改为垂直换道相关名称 */
if (s_currentState >= 0 && s_currentState < LANE_CHANGE_STATE_COUNT) { if (ChangeRoad_currentState >= 0 && ChangeRoad_currentState < LANE_CHANGE_STATE_COUNT) {
vertical_lane_change_left[s_currentState](); vertical_lane_change_left[ChangeRoad_currentState]();
} else { } else {
handleHalt(); handleHalt();
} }
@ -510,16 +583,16 @@ void Vertical_Left_Func(void)
void vertical_forward(void) void vertical_forward(void)
{ {
if (s_currentState >= 0 && s_currentState < STATE_COUNT) { if (vertical_s_currentState >= 0 && vertical_s_currentState < STATE_COUNT) {
robot_vertical_drive[s_currentState](); robot_vertical_drive[vertical_s_currentState]();
} else { } else {
handleHalt(); handleHalt();
} }
} }
void horizontal_forward(void) void horizontal_forward(void)
{ {
if (s_currentState >= 0 && s_currentState < STATE_COUNT) { if (horizontal_s_currentState >= 0 && horizontal_s_currentState < STATE_COUNT) {
robot_horizontal_drive[s_currentState](); robot_horizontal_drive[horizontal_s_currentState]();
} else { } else {
handleHalt(); handleHalt();
} }
@ -527,8 +600,8 @@ void horizontal_forward(void)
void horizontal_work(void) void horizontal_work(void)
{ {
if (s_currentState >= 0 && s_currentState < STATE_COUNT) { if (horizontal_s_currentState >= 0 && horizontal_s_currentState < STATE_COUNT) {
horizontal_single_lane_auto_operation[s_currentState](); horizontal_single_lane_auto_operation[horizontal_s_currentState]();
} else { } else {
handleHalt(); handleHalt();
} }
@ -552,6 +625,9 @@ void flag_reset(void)
&&P_MK32->CH3_LY_H==0) &&P_MK32->CH3_LY_H==0)
{ {
s_currentState = 0; s_currentState = 0;
horizontal_s_currentState = 0;
vertical_s_currentState = 0;
ChangeRoad_currentState = 0;
swing_currentState = 0; swing_currentState = 0;
} }

55
Core/FSM/Src/swing_action.c
View File

@ -16,13 +16,12 @@
#define RIGHT_LIMIT 2 #define RIGHT_LIMIT 2
float Swing_Speed_Deg_Sencond=201.7;//HJ32-121 float Swing_Speed_Deg_Sencond=201.7;//HJ32-121
int middle_position=-944334; int middle_position=-944334;
int center_angle; //int center_angle;
int offset_angle; //int offset_angle;
int present_angle; //int center_position; //中间位置-944334
int center_position; //中间位置-944334
int limit_record=0; int limit_record=0;
int left_compare_value; float left_compare_value;
int right_compare_value; float right_compare_value;
int lef_positon=-569580; int lef_positon=-569580;
int Right_positon=-1230420; int Right_positon=-1230420;
@ -32,22 +31,20 @@ void Robot_Swing_Operation_Function()
if(P_MK32->CH0_RY_H>300) if(P_MK32->CH0_RY_H>300)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_count=-944334-90*TT_One_Deg_Count; GV.SwingMotor.Tar_Position_angle=90;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
else if(P_MK32->CH0_RY_H<-300) else if(P_MK32->CH0_RY_H<-300)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_count=-944334+90*TT_One_Deg_Count; GV.SwingMotor.Tar_Position_angle=-90;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
else else
{ {
Move_Swing_Halt_Func_Do(); Move_Swing_Halt_Func_Do();
} }
/* *Swing_Speed = CV.PV.Swing_Speed;*/
// action_perfrom(Set_Swing_States,sizeof(Set_Swing_States) / sizeof(transition_t), CurrentSwingState);
} }
@ -56,8 +53,8 @@ void Robot_Swing_Operation_Function()
void Move_Swing_Left_Func_Do_lay(void) void Move_Swing_Left_Func_Do_lay(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=2; GV.SwingMotor.Position_immediately1_Lag2=2;
GV.SwingMotor.Tar_Position_count=left_compare_value; GV.SwingMotor.Tar_Position_angle=left_compare_value;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
//摆臂电机右转延时生效 //摆臂电机右转延时生效
@ -65,24 +62,17 @@ void Move_Swing_Right_Func_Do_lay(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=2; GV.SwingMotor.Position_immediately1_Lag2=2;
GV.SwingMotor.Tar_Position_count=right_compare_value; GV.SwingMotor.Tar_Position_angle=right_compare_value;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
//摆臂电机左转立即执行 //摆臂电机左转立即执行
void Move_Swing_Left_Func_Do_imm(void) void Move_Swing_Left_Func_Do_imm(void)
{ {
if(GV.PV.Robot_Swing_Range_Angle!=center_angle)
{
center_angle=GV.PV.Robot_Swing_Range_Angle;
center_position=GV.SwingMotor.Real_Position;
}
left_compare_value=center_position+(center_angle*TT_One_Deg_Count/2);
right_compare_value=center_position-(center_angle*TT_One_Deg_Count/2);
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_count=left_compare_value; GV.SwingMotor.Tar_Position_angle=left_compare_value;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
@ -90,18 +80,10 @@ void Move_Swing_Left_Func_Do_imm(void)
//摆臂电机右转立即执行 //摆臂电机右转立即执行
void Move_Swing_Right_Func_Do_imm(void) void Move_Swing_Right_Func_Do_imm(void)
{ {
if(GV.PV.Robot_Swing_Range_Angle!=offset_angle)
{
offset_angle=GV.PV.Robot_Swing_Range_Angle;
present_angle=-(GV.SwingMotor.Real_Position-middle_position)/TT_One_Deg_Count;
center_angle=GV.SwingMotor.Real_Position;
}
left_compare_value=center_position+(center_angle*TT_One_Deg_Count/2);
right_compare_value=center_position-(center_angle*TT_One_Deg_Count/2);
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_count=right_compare_value; GV.SwingMotor.Tar_Position_angle=right_compare_value;
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond; GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
@ -109,7 +91,6 @@ void Move_Swing_Halt_Func_Do(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_count=0; GV.SwingMotor.Tar_Position_count=0;
GV.SwingMotor.Tar_Position_Velcity_RPM=0; GV.SwingMotor.Tar_Position_Velcity_Degree_S=0;
// GV.SwingMotor.Target_Velcity = 0;
} }

6
疑问记录.txt
View File

@ -44,4 +44,8 @@ GV_Robot_backMode=(int)CV.PV.Robot_backMode;
绑定电机 测距 调试摆臂 调内部PID 绑定电机 测距 调试摆臂 调内部PID
问题：摆臂CAN解析√ 变量的传导 报错信息 焊缝跟踪的验证√ 换道精度（最小二乘拟合）√ EPRROM的CV的配置 自动巡航√ 非对称摆臂 问题：摆臂CAN解析√ 变量的传导√ 报错信息 焊缝跟踪的验证√ 换道精度（最小二乘拟合）√ EPRROM的CV的配置 自动巡航√ 非对称摆臂 实现急停两个按键
变量的传导 用不同的标志位

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