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96 lines
2.2 KiB
96 lines
2.2 KiB
/*
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* swing_action.c
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*
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* Created on: Mar 4, 2026
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* Author: 42961
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*/
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#include "swing_action.h"
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#include "Handset_Status_Setting.h"
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#include "fsm_state.h"
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#include "BHBF_ROBOT.h"
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#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
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#define LEFT_LIMIT 1
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#define RIGHT_LIMIT 2
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float Swing_Speed_Deg_Sencond=201.7;//HJ32-121
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int middle_position=-944334;
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//int center_angle;
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//int offset_angle;
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//int center_position; //中间位置-944334
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int limit_record=0;
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float left_compare_value;
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float right_compare_value;
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int lef_positon=-569580;
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int Right_positon=-1230420;
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void Robot_Swing_Operation_Function()
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{
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if(P_MK32->CH0_RY_H>300)
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{
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GV.SwingMotor.Position_immediately1_Lag2=1;
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GV.SwingMotor.Tar_Position_angle=90;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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else if(P_MK32->CH0_RY_H<-300)
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{
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GV.SwingMotor.Position_immediately1_Lag2=1;
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GV.SwingMotor.Tar_Position_angle=-90;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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else
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{
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Move_Swing_Halt_Func_Do();
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}
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}
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//摆臂电机左转延时生效
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void Move_Swing_Left_Func_Do_lay(void)
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{
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GV.SwingMotor.Position_immediately1_Lag2=2;
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GV.SwingMotor.Tar_Position_angle=left_compare_value;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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//摆臂电机右转延时生效
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void Move_Swing_Right_Func_Do_lay(void)
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{
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GV.SwingMotor.Position_immediately1_Lag2=2;
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GV.SwingMotor.Tar_Position_angle=right_compare_value;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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//摆臂电机左转立即执行
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void Move_Swing_Left_Func_Do_imm(void)
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{
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GV.SwingMotor.Position_immediately1_Lag2=1;
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GV.SwingMotor.Tar_Position_angle=left_compare_value;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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//摆臂电机右转立即执行
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void Move_Swing_Right_Func_Do_imm(void)
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{
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GV.SwingMotor.Position_immediately1_Lag2=1;
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GV.SwingMotor.Tar_Position_angle=right_compare_value;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
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}
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void Move_Swing_Halt_Func_Do(void)
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{
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GV.SwingMotor.Position_immediately1_Lag2=1;
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GV.SwingMotor.Tar_Position_count=0;
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GV.SwingMotor.Tar_Position_Velcity_Degree_S=0;
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}
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