You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
115 lines
3.2 KiB
115 lines
3.2 KiB
/*
|
|
* swing_action.c
|
|
*
|
|
* Created on: Mar 4, 2026
|
|
* Author: 42961
|
|
*/
|
|
#include "swing_action.h"
|
|
#include "Handset_Status_Setting.h"
|
|
|
|
#include "fsm_state.h"
|
|
#include "BHBF_ROBOT.h"
|
|
|
|
|
|
#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
|
|
#define LEFT_LIMIT 1
|
|
#define RIGHT_LIMIT 2
|
|
float Swing_Speed_Deg_Sencond=201.7;//HJ32-121
|
|
int middle_position=-944334;
|
|
int center_angle;
|
|
int offset_angle;
|
|
int present_angle;
|
|
int center_position; //中间位置-944334
|
|
int limit_record=0;
|
|
int left_compare_value;
|
|
int right_compare_value;
|
|
|
|
int lef_positon=-569580;
|
|
int Right_positon=-1230420;
|
|
|
|
void Robot_Swing_Operation_Function()
|
|
{
|
|
if(P_MK32->CH0_RY_H>300)
|
|
{
|
|
GV.SwingMotor.Position_immediately1_Lag2=1;
|
|
GV.SwingMotor.Tar_Position_count=-944334-90*TT_One_Deg_Count;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
|
|
}
|
|
else if(P_MK32->CH0_RY_H<-300)
|
|
{
|
|
GV.SwingMotor.Position_immediately1_Lag2=1;
|
|
GV.SwingMotor.Tar_Position_count=-944334+90*TT_One_Deg_Count;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
}
|
|
else
|
|
{
|
|
Move_Swing_Halt_Func_Do();
|
|
}
|
|
/* *Swing_Speed = CV.PV.Swing_Speed;*/
|
|
// action_perfrom(Set_Swing_States,sizeof(Set_Swing_States) / sizeof(transition_t), CurrentSwingState);
|
|
}
|
|
|
|
|
|
|
|
//摆臂电机左转延时生效
|
|
void Move_Swing_Left_Func_Do_lay(void)
|
|
{
|
|
GV.SwingMotor.Position_immediately1_Lag2=2;
|
|
GV.SwingMotor.Tar_Position_count=left_compare_value;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
}
|
|
|
|
//摆臂电机右转延时生效
|
|
void Move_Swing_Right_Func_Do_lay(void)
|
|
{
|
|
|
|
GV.SwingMotor.Position_immediately1_Lag2=2;
|
|
GV.SwingMotor.Tar_Position_count=right_compare_value;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
}
|
|
|
|
//摆臂电机左转立即执行
|
|
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.Tar_Position_count=left_compare_value;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
|
|
|
|
}
|
|
|
|
//摆臂电机右转立即执行
|
|
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.Tar_Position_count=right_compare_value;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.PV.Robot_Swing_Speed*Swing_Speed_Deg_Sencond;
|
|
|
|
}
|
|
|
|
void Move_Swing_Halt_Func_Do(void)
|
|
{
|
|
GV.SwingMotor.Position_immediately1_Lag2=1;
|
|
GV.SwingMotor.Tar_Position_count=0;
|
|
GV.SwingMotor.Tar_Position_Velcity_RPM=0;
|
|
|
|
// GV.SwingMotor.Target_Velcity = 0;
|
|
}
|
|
|