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105 lines
2.8 KiB
105 lines
2.8 KiB
/*
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* motors.c
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*
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* Created on: Nov 11, 2024
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* Author: akeguo
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*/
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#include "motors.h"
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#include "msp_TTMotor_ZQ.h"
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char TT_Motor_Need_To_Activate = 0;
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FDCANHandler *Roughening_Motor_Controller;
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DispacherController *Roughening_DispacherController;
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#define LeftMotorID 1
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#define RightMotorID 2
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void MotorCommandsLoop();
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void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
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void Roughening_Motor_Controller_intialize(FDCANHandler *Handler)
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{
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//初始化
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Roughening_Motor_Controller = Handler;
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Roughening_Motor_Controller->CAN_Decode = Roughening_MotorDecodeCAN;
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
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"ZQ_CAN_ID2_LeftMotor", 0, ComError_ZQ_LeftMotor);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
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"ZQ_CAN_ID3_RightMotor", 0, ComError_ZQ_RightMotor);
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Roughening_DispacherController = Handler->dispacherController;
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Roughening_DispacherController->DispacherCallTime = 2;
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Roughening_DispacherController->Add_Dispatcher_List(
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Roughening_DispacherController, MotorCommandsLoop);
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LOGFF(DL_WARN,"TT_Motors_intialize");
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}
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void MotorCommandsLoop()
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{
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if (TT_Motor_Need_To_Activate == 1)
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{
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// ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 6000);
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ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
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ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
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SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 150, 150, 0);
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SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 150, 150, 0);
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// SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
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// SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
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TT_Motor_Need_To_Activate = 2;
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}
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else if (TT_Motor_Need_To_Activate == 2)
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{
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for (int i = 1; i < 3; i++)
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{
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TT_Request_Position(i, Roughening_Motor_Controller, 6);
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TT_Request_Velocity(i, Roughening_Motor_Controller, 6);
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TT_Request_Current(i, Roughening_Motor_Controller, 6);
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TT_Request_Fault(i, Roughening_Motor_Controller, 6);
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TT_Request_Tempature(i, Roughening_Motor_Controller, 6);
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}
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TT_SpeedMode_Set_TargetSpeed(LeftMotorID, Roughening_Motor_Controller, 6,
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GV.LeftMotor.Target_Velcity);
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TT_SpeedMode_Set_TargetSpeed(RightMotorID, Roughening_Motor_Controller, 6,
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-GV.RightMotor.Target_Velcity);
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}
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}
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char a[10];
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void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
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{
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memcpy(a,buffer,8);
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switch (canID - 0x580)
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{
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case LeftMotorID:
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{
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"ZQ_CAN_ID2_LeftMotor", 1);
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TT_Analytic_Fun(LeftMotorID, buffer);
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}
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break;
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case RightMotorID:
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{
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"ZQ_CAN_ID3_RightMotor", 1);
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TT_Analytic_Fun(RightMotorID, buffer);
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}
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break;
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}
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}
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