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03131625

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L1NG\42961 5 hours ago
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2e53afede5
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fd0da8647c
12 changed files with 213 additions and 132 deletions
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  1. 14
      Core/BASE/Protobuf/PSource/bsp_GV.pb.h
  2. 14
      Core/BASE/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h
  3. 2
      Core/BASE/Protobuf/Proto/bsp_GV.proto
  4. 3
      Core/BASE/Protobuf/Proto/msp_ZQ_MotorParameters.proto
  5. 4
      Core/FSM/Inc/Handset_Status_Setting.h
  6. 1
      Core/FSM/Inc/robot_move_actions.h
  7. 68
      Core/FSM/Src/Handset_Status_Setting.c
  8. 39
      Core/FSM/Src/fsm_state_control.c
  9. 4
      Core/FSM/Src/motor.c
  10. 151
      Core/FSM/Src/robot_move_actions.c
  11. 27
      Core/FSM/Src/swing_action.c
  12. 18
      疑问记录.txt

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

@ -45,6 +45,8 @@ typedef struct _GV_struct_define {
ErrorData SystemErrorData; ErrorData SystemErrorData;
bool has_PV; bool has_PV;
PV_struct_define PV; /* 用户配置数据 */ PV_struct_define PV; /* 用户配置数据 */
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) */
} GV_struct_define; } GV_struct_define;
@ -53,8 +55,8 @@ extern "C" {
#endif #endif
/* Initializer values for message structs */ /* Initializer values for message structs */
#define GV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default} #define GV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, 0}
#define GV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero} #define GV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, 0}
/* Field tags (for use in manual encoding/decoding) */ /* Field tags (for use in manual encoding/decoding) */
#define GV_struct_define_TempatureE_2C_tag 1 #define GV_struct_define_TempatureE_2C_tag 1
@ -76,6 +78,8 @@ extern "C" {
#define GV_struct_define_IO_tag 17 #define GV_struct_define_IO_tag 17
#define GV_struct_define_SystemErrorData_tag 18 #define GV_struct_define_SystemErrorData_tag 18
#define GV_struct_define_PV_tag 19 #define GV_struct_define_PV_tag 19
#define GV_struct_define_Tar_Position_angle_tag 20
#define GV_struct_define_Tar_Position_Velcity_Degree_S_tag 21
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define GV_struct_define_FIELDLIST(X, a) \ #define GV_struct_define_FIELDLIST(X, a) \
@ -97,7 +101,9 @@ X(a, STATIC, OPTIONAL, MESSAGE, SwingMotor, 15) \
X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 16) \ X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 16) \
X(a, STATIC, OPTIONAL, MESSAGE, IO, 17) \ X(a, STATIC, OPTIONAL, MESSAGE, IO, 17) \
X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 18) \ X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 18) \
X(a, STATIC, OPTIONAL, MESSAGE, PV, 19) X(a, STATIC, OPTIONAL, MESSAGE, PV, 19) \
X(a, STATIC, SINGULAR, FLOAT, Tar_Position_angle, 20) \
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_Degree_S, 21)
#define GV_struct_define_CALLBACK NULL #define GV_struct_define_CALLBACK NULL
#define GV_struct_define_DEFAULT NULL #define GV_struct_define_DEFAULT NULL
#define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button #define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button
@ -116,7 +122,7 @@ 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 1756 #define GV_struct_define_size 1720
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

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

@ -39,8 +39,6 @@ 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;
@ -49,8 +47,8 @@ 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, 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}
#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} #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}
/* 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
@ -81,8 +79,6 @@ 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) \
@ -113,9 +109,7 @@ 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
@ -126,7 +120,7 @@ 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 346 #define TT_MotorParameters_size 328
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

2
Core/BASE/Protobuf/Proto/bsp_GV.proto
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@ -30,6 +30,8 @@ message GV_struct_define
IO_Data IO=17; IO_Data IO=17;
ErrorData SystemErrorData=18; ErrorData SystemErrorData=18;
PV_struct_define PV=19;//用户配置数据 PV_struct_define PV=19;//用户配置数据
float Tar_Position_angle=20; //位置环模式，期望角度
int32 Tar_Position_Velcity_Degree_S=21; //位置环模式，速度(m/min)
}; };

3
Core/BASE/Protobuf/Proto/msp_ZQ_MotorParameters.proto
View File

@ -31,8 +31,7 @@ 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)
} }

4
Core/FSM/Inc/Handset_Status_Setting.h
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@ -10,7 +10,8 @@
// 按键定义 // 按键定义
typedef enum { typedef enum {
INPUT_NONE = 0, // 无输入 EMERGENCE_STOP=0, // SE和SF同时按下触发急停
INPUT_NONE , // 无输入
// 摇杆方向 // 摇杆方向
INPUT_ROCKER_STOP, // 摇杆停止 INPUT_ROCKER_STOP, // 摇杆停止
INPUT_ROCKER_FORWARD, // 摇杆前进 INPUT_ROCKER_FORWARD, // 摇杆前进
@ -25,7 +26,6 @@ typedef enum {
INPUT_KEY_AUTO_WORK_UP, // CH7_SD = -1000 自动作业上 INPUT_KEY_AUTO_WORK_UP, // CH7_SD = -1000 自动作业上
INPUT_KEY_AUTO_WORK_DOWN, // CH7_SD = 1000 自动作业下 INPUT_KEY_AUTO_WORK_DOWN, // CH7_SD = 1000 自动作业下
EMERGENCE_STOP, // SE和SF同时按下触发急停
KEY_COUNT, // 输入总数 KEY_COUNT, // 输入总数

1
Core/FSM/Inc/robot_move_actions.h
View File

@ -28,5 +28,6 @@ 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） */
void flag_reset(void); void flag_reset(void);
void Emergency_Stop_Action(void);
#endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */ #endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */

68
Core/FSM/Src/Handset_Status_Setting.c
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@ -30,6 +30,7 @@
// ============ 类型定义 ============ // ============ 类型定义 ============
typedef InputEvent (*ModeEventHandler)(void); typedef InputEvent (*ModeEventHandler)(void);
static inline InputEvent CheckEmergencyStop(void);
static InputEvent GetHaltModeEvents(void); static InputEvent GetHaltModeEvents(void);
static InputEvent GetManualModeEvents(void); static InputEvent GetManualModeEvents(void);
static InputEvent GetHorizontalModeEvents(void); static InputEvent GetHorizontalModeEvents(void);
@ -147,13 +148,14 @@ static InputEvent CalculateRockerEvent(void)
return INPUT_ROCKER_STOP; return INPUT_ROCKER_STOP;
} }
// 摇杆事件计算 // 急停检测
static InputEvent Check_Emergency_Event(void) static inline InputEvent CheckEmergencyStop(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000)
{ {
return EMERGENCE_STOP; return EMERGENCE_STOP;
} }
return INPUT_NONE;
} }
@ -161,80 +163,64 @@ static InputEvent Check_Emergency_Event(void)
static InputEvent GetHaltModeEvents(void) static InputEvent GetHaltModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckAllKeys();
}
InputEvent key = CheckAllKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetManualModeEvents(void) static InputEvent GetManualModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckCommonKeys();
}
InputEvent key = CheckCommonKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetHorizontalModeEvents(void) static InputEvent GetHorizontalModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckCommonKeys();
}
InputEvent key = CheckCommonKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetFlatModeEvents(void) static InputEvent GetFlatModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckCommonKeys();
}
InputEvent key = CheckCommonKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetVerticalLeftModeEvents(void) static InputEvent GetVerticalLeftModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckCommonKeys();
}
InputEvent key = CheckCommonKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetVerticalRightModeEvents(void) static InputEvent GetVerticalRightModeEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP; key = CheckCommonKeys();
}
InputEvent key = CheckCommonKeys();
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); return (key != INPUT_NONE) ? key : CalculateRockerEvent();
} }
static InputEvent GetRegionalHorizontalTaskEvents(void) static InputEvent GetRegionalHorizontalTaskEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP;
}
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP;
return CalculateRockerEvent(); return CalculateRockerEvent();
} }
static InputEvent GetRegionalFlatTaskEvents(void) static InputEvent GetRegionalFlatTaskEvents(void)
{ {
if(P_MK32->CH8_SE==-1000&&P_MK32->CH9_SF==-1000) InputEvent key = CheckEmergencyStop();
{ if(key!=INPUT_NONE) return key;
return EMERGENCE_STOP;
}
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP;
return CalculateRockerEvent(); return CalculateRockerEvent();
} }
@ -265,6 +251,8 @@ void IV_control(void)
IV.Is_Online = GV.P_MK32.IsOnline; IV.Is_Online = GV.P_MK32.IsOnline;
IV.SystemError = GV.SystemErrorData.Com_Error_Code; IV.SystemError = GV.SystemErrorData.Com_Error_Code;
IV.Robot_Move_Deri_Speed = GV.Left_Speed_M_min*10; IV.Robot_Move_Deri_Speed = GV.Left_Speed_M_min*10;
IV.LeftCompensation = GV.Left_Compensation;
IV.RightCompensation = GV.Right_Compensation;
// IV.Left_Motor_Err = GV.LeftMotor.Motor_Fault; // IV.Left_Motor_Err = GV.LeftMotor.Motor_Fault;
// IV.Right_Motor_Err = GV.RightMotor.Motor_Fault; // IV.Right_Motor_Err = GV.RightMotor.Motor_Fault;
// IV.TimeStamp = SystemTimeMiliCount; // IV.TimeStamp = SystemTimeMiliCount;

39
Core/FSM/Src/fsm_state_control.c
View File

@ -38,7 +38,7 @@ static void change_Road_group(void);
static void vertical_forward_group(void); /* 虽未在表中使用，但保留 */ static void vertical_forward_group(void); /* 虽未在表中使用，但保留 */
static void vertical_backward_group(void); static void vertical_backward_group(void);
static void horizontal_auto_group(void); static void horizontal_auto_group(void);
static void Emergency_Stop(void); static void Emergency_Stop_group(void);
/*=========================== 6. 函数指针表 ===========================*/ /*=========================== 6. 函数指针表 ===========================*/
/* 动作映射表：模式 × 按键 -> 执行函数 */ /* 动作映射表：模式 × 按键 -> 执行函数 */
@ -55,7 +55,7 @@ ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = {
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, [INPUT_ROCKER_TURN_RIGHT] = manual_right_group,
[INPUT_KEY_FORWARD_CRUISE] = manual_forward_group, [INPUT_KEY_FORWARD_CRUISE] = manual_forward_group,
[INPUT_KEY_BACKWARD_CRUISE] = manual_backward_group, [INPUT_KEY_BACKWARD_CRUISE] = manual_backward_group,
[EMERGENCE_STOP] = Emergency_Stop, [EMERGENCE_STOP] = Emergency_Stop_group,
}, },
// Horizontal_Mode - 水平模式 // Horizontal_Mode - 水平模式
@ -69,7 +69,7 @@ ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = {
[INPUT_KEY_BACKWARD_CRUISE] = horizontal_backward_group, [INPUT_KEY_BACKWARD_CRUISE] = horizontal_backward_group,
[INPUT_KEY_AUTO_WORK_UP] = horizontal_auto_group, [INPUT_KEY_AUTO_WORK_UP] = horizontal_auto_group,
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, [INPUT_KEY_LANE_CHANGE_UP] = change_Road_group,
[EMERGENCE_STOP] = Emergency_Stop, [EMERGENCE_STOP] = Emergency_Stop_group,
// 其他按键暂未实现，留空（NULL） // 其他按键暂未实现，留空（NULL）
}, },
@ -88,7 +88,7 @@ ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = {
[INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group, [INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group,
[INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group, [INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group,
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, [INPUT_KEY_LANE_CHANGE_UP] = change_Road_group,
[EMERGENCE_STOP] = Emergency_Stop, [EMERGENCE_STOP] = Emergency_Stop_group,
// 其他预留 // 其他预留
}, },
@ -102,7 +102,7 @@ ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = {
[INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group, [INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group,
[INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group, [INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group,
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, [INPUT_KEY_LANE_CHANGE_UP] = change_Road_group,
[EMERGENCE_STOP] = Emergency_Stop, [EMERGENCE_STOP] = Emergency_Stop_group,
// 未实现 // 未实现
}, },
@ -150,23 +150,24 @@ static void manual_right_group(void)
static void horizontal_forward_group(void) static void horizontal_forward_group(void)
{ {
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; GV.Robot_Desired_Speed=GV.Robot_Move_Speed;
horizontal_forward(); //horizontal_forward();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }
static void horizontal_backward_group(void) static void horizontal_backward_group(void)
{ {
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; GV.Robot_Desired_Speed=-GV.Robot_Move_Speed;
horizontal_forward(); //horizontal_forward();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }
static void horizontal_auto_group(void) static void horizontal_auto_group(void)
{ {
horizontal_work(); // horizontal_work();
Move_Horizontal_Auto_Sub_Func();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }
static void change_Road_group(void) static void change_Road_group(void)
{ {
Change_Road_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 */
} }
@ -174,23 +175,21 @@ static void change_Road_group(void)
static void vertical_forward_group(void) static void vertical_forward_group(void)
{ {
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; GV.Robot_Desired_Speed=GV.Robot_Move_Speed;
vertical_forward(); //vertical_forward();
} }
static void vertical_backward_group(void) static void vertical_backward_group(void)
{ {
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; GV.Robot_Desired_Speed=-GV.Robot_Move_Speed;
vertical_forward(); //vertical_forward();
} }
static void Emergency_Stop(void) static void Emergency_Stop_group(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; Emergency_Stop_Action();
GV.SwingMotor.Tar_Position_Velcity_Degree_S=0; Is_All_Button_Reset = 0;
GV.Left_Speed_M_min=0;
GV.Right_Speed_M_min=0;
flag_reset();
} }
/*=========================== 8. 对外接口函数（需外部调用） ===========================*/ /*=========================== 8. 对外接口函数（需外部调用） ===========================*/
/*------------------------------------------------------------------- /*-------------------------------------------------------------------
@ -249,12 +248,6 @@ void GF_Dispatch(void)
*-------------------------------------------------------------------*/ *-------------------------------------------------------------------*/
int AbnormalDetect(void) int AbnormalDetect(void)
{ {
/* 急停 */
if (P_MK32->CH8_SE == -1000 && P_MK32->CH9_SF == -1000)
{
Is_All_Button_Reset = 0; // 必须复位才能动
return 1;
}
/* 按钮未复位 */ /* 按钮未复位 */
if (Get_BIT(SystemErrorCode, ComError_MK32_InitialState) != Has_Reset) if (Get_BIT(SystemErrorCode, ComError_MK32_InitialState) != Has_Reset)

4
Core/FSM/Src/motor.c
View File

@ -123,8 +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_count=(int32_t)(middle_position_motor-GV.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; GV.SwingMotor.Tar_Position_Velcity_RPM=GV.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)
{ {

151
Core/FSM/Src/robot_move_actions.c
View File

@ -72,14 +72,31 @@ enum swing_state {
SWING_RIGHT_MOVE, /* 向右运动 */ SWING_RIGHT_MOVE, /* 向右运动 */
}; };
/**
* 状态机类型枚举（用于多状态机管理）
*/
typedef enum {
FSM_init_state = 0, // 默认初始化的值（占位，不使用）
FSM_HORIZONTAL_AUTO_Flag, // 水平单道自动
FSM_HORIZONTAL_FORWARD_Flag, // 水平前进（简化版）
FSM_VERTICAL_FORWARD_Flag, // 垂直前进
FSM_VERTICAL_CHANGE_ROAD_Flag, // 垂直左换道
FSM_SWING, //摆臂
REGION_STATE_AUTO_CONTINUOUS_Flag, //区域自动作业
FSM_COUNT // 状态机总数
} FsmType;
/*=========================== 4.全局变量 ===========================*/ /*=========================== 4.全局变量 ===========================*/
////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） */
static FsmType s_activeFsm;
static FsmType s_lastActiveFsm=FSM_init_state;
static int s_fsmState[FSM_COUNT] = {0};
int s_currentState = STATE_ATTITUDE_JUDGE; int s_currentState = STATE_ATTITUDE_JUDGE;
int horizontal_s_currentState = STATE_ATTITUDE_JUDGE; int horizontal_s_currentState = STATE_ATTITUDE_JUDGE;
int vertical_s_currentState = STATE_ATTITUDE_JUDGE; int vertical_s_currentState = STATE_ATTITUDE_JUDGE;
int ChangeRoad_currentState = STATE_ATTITUDE_JUDGE; int ChangeRoad_currentState = LANE_CHANGE_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 */
@ -130,7 +147,7 @@ static void swing_left_move(void);
static void swing_right_move(void); static void swing_right_move(void);
static void get_swing_mode(void); static void get_swing_mode(void);
void Emergency_Stop_Action(void);
/* PID系数 */ /* PID系数 */
int factor_1= 1; int factor_1= 1;
int factor_2= -1; int factor_2= -1;
@ -196,6 +213,24 @@ static const void (*const swing_move_control[])(void) = {
/*=========================== 7.静态函数实现 ===========================*/ /*=========================== 7.静态函数实现 ===========================*/
/*-----------------------------------------------------------------
* 状态机切换管理
*-----------------------------------------------------------------*/
static void check_and_reset_fsm(FsmType current) {
if (s_lastActiveFsm != current) {
// 发生了状态机切换，重置其他所有状态机
for (int i = 0; i < FSM_COUNT; i++) {
if (i != current) {
s_fsmState[i] = 0; // 重置为初始状态
}
}
s_lastActiveFsm = current; // 更新上次类型
}
// 如果相同，不做任何操作
}
/*----------------------------------------------------------------- /*-----------------------------------------------------------------
* 基础运动控制（手动模式） * 基础运动控制（手动模式）
@ -226,6 +261,9 @@ void Turn_Right(void)
void Robot_Stop(void) void Robot_Stop(void)
{ {
check_and_reset_fsm(FSM_init_state);
swing_currentState = 0;
Compensation_Update(); Compensation_Update();
get_swing_mode(); get_swing_mode();
Robot_Swing_Operation_Function(); Robot_Swing_Operation_Function();
@ -269,7 +307,7 @@ 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) {
horizontal_s_currentState++; s_fsmState[s_activeFsm]++;
} }
} }
@ -278,7 +316,7 @@ static void handleAttitudeAdjustVertical(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) {
vertical_s_currentState++; s_fsmState[s_activeFsm]++;
} }
} }
@ -288,7 +326,7 @@ static void handleAttitudeAdjustChangeRoad(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) {
ChangeRoad_currentState++; s_fsmState[s_activeFsm]++;
} }
} }
/*----------------------------------------------------------------- /*-----------------------------------------------------------------
@ -303,7 +341,7 @@ 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;
} }
horizontal_s_currentState = STATE_ATTITUDE_ADJUST; s_fsmState[s_activeFsm]=STATE_ATTITUDE_ADJUST;
} }
static void handleAttitudeJudge_vertical(void) static void handleAttitudeJudge_vertical(void)
@ -318,7 +356,7 @@ static void handleAttitudeJudge_vertical(void)
GV.Robot_Angle_Desire -= 360.0f; GV.Robot_Angle_Desire -= 360.0f;
} }
} }
vertical_s_currentState = STATE_ATTITUDE_ADJUST; s_fsmState[s_activeFsm] = STATE_ATTITUDE_ADJUST;
} }
@ -327,9 +365,9 @@ static void handleWorkWay(void)
{ {
int mode = GV.PV.Robot_backMode; int mode = GV.PV.Robot_backMode;
if (mode == 1) { if (mode == 1) {
horizontal_s_currentState = STATE_FIGHT_ALTERNATELY; s_fsmState[s_activeFsm]= STATE_FIGHT_ALTERNATELY;
} else if (mode == 2) { } else if (mode == 2) {
horizontal_s_currentState = STATE_FIGHT_RETREATING; s_fsmState[s_activeFsm]= 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 */
} }
@ -344,7 +382,7 @@ 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];
ChangeRoad_currentState = LANE_CHANGE_STATE_ATTITUDE_ADJUST; s_fsmState[s_activeFsm] = LANE_CHANGE_STATE_ATTITUDE_ADJUST;
} }
} }
@ -400,11 +438,11 @@ static void handleLaneChangeCalcRetreatTime(void)
uint32_t tickNow = HAL_GetTick(); uint32_t tickNow = HAL_GetTick();
s_retreatStartTick = tickNow; s_retreatStartTick = tickNow;
ChangeRoad_currentState = LANE_CHANGE_STATE_CONTINUOUS_RETREAT; s_fsmState[s_activeFsm] = 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)
{ {
ChangeRoad_currentState = LANE_CHANGE_STATE_ATTITUDE_JUDGE; s_fsmState[s_activeFsm] = LANE_CHANGE_STATE_ATTITUDE_JUDGE;
} }
} }
@ -415,7 +453,7 @@ static void handleLaneChangeContinuousRetreat(void)
auto_drive_pid_vertical(); auto_drive_pid_vertical();
if ((tickNow - s_retreatStartTick) >= s_retreatDurationTicks) { if ((tickNow - s_retreatStartTick) >= s_retreatDurationTicks) {
ChangeRoad_currentState++; s_fsmState[s_activeFsm]++;
GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[1]; GV.Robot_Angle_Desire = LEFT_TARGET_ANGLES[1];
} }
} }
@ -440,7 +478,9 @@ void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void)
/*-----------------------------------------------------------------
* 摆臂运动函数
*-----------------------------------------------------------------*/
int present_angle; int present_angle;
static void swing_start_move(void) static void swing_start_move(void)
{ {
@ -520,7 +560,7 @@ static void auto_drive_pid_horizontal(void)
float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f; float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f;
float speeds[2]; float speeds[2];
TwoWheel_AngleControl(robotRoll, GV.Robot_Angle_Desire, GV.Robot_Desired_Speed,2, speeds); TwoWheel_AngleControl(robotRoll, GV.Robot_Angle_Desire, GV.Robot_Desired_Speed,1, speeds);
GV.Left_Speed_M_min = factor_1*speeds[0]; GV.Left_Speed_M_min = factor_1*speeds[0];
GV.Right_Speed_M_min = factor_2*speeds[1]; /* 根据电机方向可能需要调整符号 */ GV.Right_Speed_M_min = factor_2*speeds[1]; /* 根据电机方向可能需要调整符号 */
@ -551,16 +591,15 @@ static void handleHalt(void)
} }
/*=========================== 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)
{
horizontal_s_currentState = STATE_ATTITUDE_JUDGE;
}
void Move_Horizontal_Auto_Sub_Func(void) void Move_Horizontal_Auto_Sub_Func(void)
{ {
if (horizontal_s_currentState >= 0 && horizontal_s_currentState < STATE_COUNT) { s_activeFsm = FSM_HORIZONTAL_AUTO_Flag;
if (horizontal_single_lane_auto_operation[horizontal_s_currentState] != NULL) { check_and_reset_fsm(FSM_HORIZONTAL_AUTO_Flag);
horizontal_single_lane_auto_operation[horizontal_s_currentState](); int state = s_fsmState[FSM_HORIZONTAL_AUTO_Flag];
if (state >= 0 && state < STATE_COUNT) {
if (horizontal_single_lane_auto_operation[state] != NULL) {
horizontal_single_lane_auto_operation[state]();
} 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();
@ -572,31 +611,60 @@ void Move_Horizontal_Auto_Sub_Func(void)
void Change_Road_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 */ s_activeFsm = FSM_VERTICAL_CHANGE_ROAD_Flag;
if (ChangeRoad_currentState >= 0 && ChangeRoad_currentState < LANE_CHANGE_STATE_COUNT) { check_and_reset_fsm(FSM_VERTICAL_CHANGE_ROAD_Flag);
vertical_lane_change_left[ChangeRoad_currentState](); int state = s_fsmState[FSM_VERTICAL_CHANGE_ROAD_Flag];
if (state >= 0 && state < STATE_COUNT) {
if (vertical_lane_change_left[state] != NULL) {
vertical_lane_change_left[state]();
} else {
/* 遇到未实现的状态，停机处理 */
handleHalt();
}
} else { } else {
handleHalt(); handleHalt();
} }
} }
void vertical_forward(void) void vertical_forward(void)
{ {
if (vertical_s_currentState >= 0 && vertical_s_currentState < STATE_COUNT) { s_activeFsm = FSM_VERTICAL_FORWARD_Flag;
robot_vertical_drive[vertical_s_currentState](); check_and_reset_fsm(FSM_VERTICAL_FORWARD_Flag);
int state = s_fsmState[FSM_VERTICAL_FORWARD_Flag];
if (state >= 0 && state < STATE_COUNT) {
if (robot_vertical_drive[state] != NULL) {
robot_vertical_drive[state]();
} else {
/* 遇到未实现的状态，停机处理 */
handleHalt();
}
} else { } else {
handleHalt(); handleHalt();
} }
} }
void horizontal_forward(void) void horizontal_forward(void)
{ {
if (horizontal_s_currentState >= 0 && horizontal_s_currentState < STATE_COUNT) { s_activeFsm = FSM_HORIZONTAL_AUTO_Flag;
robot_horizontal_drive[horizontal_s_currentState](); check_and_reset_fsm(FSM_HORIZONTAL_AUTO_Flag);
} else { int state = s_fsmState[FSM_HORIZONTAL_AUTO_Flag];
handleHalt();
} if (state >= 0 && state < STATE_COUNT) {
if (robot_horizontal_drive[state] != NULL) {
robot_horizontal_drive[state]();
} else {
/* 遇到未实现的状态，停机处理 */
handleHalt();
}
} else {
handleHalt();
}
} }
void horizontal_work(void) void horizontal_work(void)
@ -610,8 +678,14 @@ void horizontal_work(void)
void swing_work(void) void swing_work(void)
{ {
if (swing_currentState >= 0 && swing_currentState < STATE_COUNT) { if (swing_currentState >= 0 && swing_currentState < STATE_COUNT) {
swing_move_control[swing_currentState](); if (swing_move_control[swing_currentState] != NULL) {
swing_move_control[swing_currentState]();
} else {
/* 遇到未实现的状态，停机处理 */
handleHalt();
}
} else { } else {
handleHalt(); handleHalt();
} }
@ -634,3 +708,12 @@ void flag_reset(void)
} }
void Emergency_Stop_Action(void)
{
GV.SwingMotor.Position_immediately1_Lag2=1;
GV.Tar_Position_Velcity_Degree_S=0;
GV.Left_Speed_M_min=0;
GV.Right_Speed_M_min=0;
flag_reset();
}

27
Core/FSM/Src/swing_action.c
View File

@ -31,15 +31,15 @@ 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_angle=90; GV.Tar_Position_angle=90;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.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_angle=-90; GV.Tar_Position_angle=-90;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
else else
{ {
@ -53,8 +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_angle=left_compare_value; GV.Tar_Position_angle=left_compare_value;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.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
@ -62,8 +62,8 @@ void Move_Swing_Right_Func_Do_lay(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=2; GV.SwingMotor.Position_immediately1_Lag2=2;
GV.SwingMotor.Tar_Position_angle=right_compare_value; GV.Tar_Position_angle=right_compare_value;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.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
@ -71,8 +71,9 @@ void Move_Swing_Left_Func_Do_imm(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_angle=left_compare_value;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.Tar_Position_angle=left_compare_value;
GV.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
@ -82,8 +83,8 @@ void Move_Swing_Right_Func_Do_imm(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;
GV.SwingMotor.Tar_Position_angle=right_compare_value; GV.Tar_Position_angle=right_compare_value;
GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed; GV.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
} }
@ -91,6 +92,6 @@ 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_Degree_S=0; GV.Tar_Position_Velcity_Degree_S=0;
} }

18
疑问记录.txt
View File

@ -44,9 +44,9 @@ 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√ 实现急停两个按键 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√ 调整左补偿与右补偿 变量的传导√ 用不同的标志位√ 调整左补偿与右补偿√
B03-14摆臂机器人3月13日计划完成： B03-14摆臂机器人3月13日计划完成：
@ -60,3 +60,17 @@ B03-14摆臂机器人3月13日计划完成：
4.最小二乘法拟合换道精度，之前的参数测试过之后发现不太准，今天需要再测一遍 4.最小二乘法拟合换道精度，之前的参数测试过之后发现不太准，今天需要再测一遍
图片里尚未完成的：
1.区域自动作业的相关功能
2.推杆
3.按键SC相关功能
4.平面模式
5.参数预设
6.竖直微调
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