PPC.c
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#include "PPC.h"
#if P_SETUP_NAV_TYPE==4
//获取激光数据slam,此补偿不是将雷达位置补偿到车体中心而是工位坐标特殊补偿，每个工位的补偿值不一样，龙旗项目使用中
void laserDataUpdate() //
{
CurrentCenterPoint.TarX = agv.Public.Coordinate_X; //X补偿
CurrentCenterPoint.TarY = agv.Public.Coordinate_Y; //Y补偿
CurrentCenterPoint.CurAngle = agv.Public.Coordinate_W;//W补偿
}
int LightArriveFlagL = 0,LightArriveFlagR = 0;
u8 lastI_materialArriveFlag;
//到达判断
unsigned char ArriveJugement()
{
static u8 lastStopFlagL = 0,lastStopFlagR = 0;
if(navi.Public.VerticalDistanceAgvToTARGET < LIGHT_STOP_SIGNAL_DIS)
{
{
if(agv.Command.standSiteID >= traffic_land_marksReal.size - 1 && agv.Command.CurDirection == 2)
{
if((lastI_materialArriveFlag == 0) && agv.Public.i_materialArriveFlag && navi.Public.VerticalDistanceAgvToTARGET < 80)
{
lastI_materialArriveFlag = agv.Public.i_materialArriveFlag;
return 1;
}
lastI_materialArriveFlag = agv.Public.i_materialArriveFlag;
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - POSARRIVE_RANGE)) &&
(navi.Public.VerticalDistanceAgvToTARGET < navi.Public.VerticalDistanceAgvToSTART)
)
{
return 1;
}
}
else
{
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - 20)) && (navi.Public.VerticalDistanceAgvToTARGET < navi.Public.VerticalDistanceAgvToSTART))
{
return 1;
}
}
}
lastI_materialArriveFlag = agv.Public.i_materialArriveFlag;
}
return 0;
}
int errorCurangle,errorTarangle,errorAngle;
//更新执行站点
void pathUpdate(u8 *CurrentID)
{
static int lastTime = 0;
static float lastAnglediff = 0;
/*****************到达站点判断以及切换站点**********************/
if (agv.Command.CurDirection == 1 || agv.Command.CurDirection == 2) //直行判断
{
//到达站点判断
if (ArriveJugement()==1)
{
*CurrentID += 1;
if (*CurrentID >= traffic_land_marksReal.size)
{
if(agv.Command.CurDirection == 2)
{
SetAlarm(0x20);
agv.Public.i_ForkliftAngleAdjustment = 1;
}
else
{
SetAlarm(0x200);
agv.Public.finishStatus = 1;
agv.Public.finishTaskSig = 1;
}
}
else
agv.Public.finishStatus = 1;
}
lastAnglediff = 0;
}
else if (agv.Command.CurDirection == 7 || agv.Command.CurDirection == 8 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10) //弧线转弯
{
//站点更新
if (fabs(navi.Public.AngleDifference) <= (TURNINGOFF_ANGLE + agv.Parameter.turnOffCompensation))//||(navi.Public.AngleDifference*lastAnglediff<0))
{
*CurrentID += 1;
errorCurangle = (int)(CurrentCenterPoint.CurAngle*57.3);
errorTarangle = (int)(navi.Private.TarAngle*57.3);
errorAngle = (int)(navi.Public.AngleDifference*57.3);
}
lastAnglediff = navi.Public.AngleDifference;
}
//举升高度
if(traffic_land_marksReal.land_marks[*CurrentID - 1].actionType == 4)
{
agv.Parameter.SetLift1Height = traffic_land_marksReal.land_marks[*CurrentID - 1].liftHeight;
if(abs(agv.Parameter.SetLift1Height - DriverLifter1.Public.encoderPose) < 15)
agv.Public.finishStatus = 1;
}
static int lastTimeCharge = 0;
//充电处理
if(traffic_land_marksReal.land_marks[*CurrentID - 1].actionType == 6)
{
Y9(1);//打开自动充电
sendCommandToCharging(1);//打开充电
if(!startState && extendState && !backState)
{
agv.Public.finishStatus = 1;
agv.Public.chargeState = 1;
}
}
else if(traffic_land_marksReal.land_marks[*CurrentID - 1].actionType == 7)
{
Y9(0);//关闭自动充电
sendCommandToCharging(0);//关闭充电
if(startState && !extendState && backState)
{
agv.Public.chargeState = 0;
agv.Public.finishStatus = 1;
}
}
agv.Command.LaserArea = traffic_land_marksReal.land_marks[*CurrentID - 1].LaserArea;
agv.Command.CurDirection = traffic_land_marksReal.land_marks[*CurrentID - 1].Direction; //当前站点运行方向
if (*CurrentID < traffic_land_marksReal.size) //当前站点不是最后站点，保存下一个站点方向和光电停车信号
{
agv.Command.DispatchSpeed = traffic_land_marksReal.land_marks[*CurrentID - 1].DispatchSpeed*10; //系统下发速度
if(agv.Command.CurDirection == 2)
agv.Command.DispatchSpeed = 300;
agv.Command.NextDirection = traffic_land_marksReal.land_marks[*CurrentID].Direction; //下个站点运行方向
agv.Command.NextDispatchSpeed = traffic_land_marksReal.land_marks[*CurrentID].DispatchSpeed*10;
}
else //已经是最后一个站点，没有下一个站点清零
{
agv.Command.DispatchSpeed = 0;
agv.Command.NextDirection = 0;
agv.Command.NextDispatchSpeed = 0;
}
if (*CurrentID < traffic_land_marksReal.size - 1) //当前站点不是最后站点，保存下一个站点方向和光电停车信号
{
agv.Command.NextSecondDirection = traffic_land_marksReal.land_marks[*CurrentID + 1].Direction; //下个站点运行方向
}
else //已经是最后一个站点，没有下一个站点清零
{
agv.Command.NextSecondDirection = 0;
}
//给每个点位赋予一个方向
if(agv.Command.CurDirection >= 7)
{
agv.Command.LandMarkID = traffic_land_marksReal.land_marks[*CurrentID].LandMarkID;
}
else
{
if(traffic_land_marksReal.land_marks[*CurrentID - 1].LandMarkID != 0)
agv.Command.LandMarkID = traffic_land_marksReal.land_marks[*CurrentID - 1].LandMarkID;
agv.Command.NextLandMarkID = traffic_land_marksReal.land_marks[*CurrentID].LandMarkID;
}
StartPoint.TarX = traffic_land_marksReal.land_marks[*CurrentID - 1].pose[0]; //当前点（起点）
StartPoint.TarY = traffic_land_marksReal.land_marks[*CurrentID - 1].pose[1];
TargetPoint.TarX = traffic_land_marksReal.land_marks[*CurrentID].pose[0]; //目标点（终点）
TargetPoint.TarY = traffic_land_marksReal.land_marks[*CurrentID].pose[1];
if (*CurrentID < traffic_land_marksReal.size - 1) //实现弧线转弯需要有四个点位计算
{
PointTwo.TarX = traffic_land_marksReal.land_marks[*CurrentID - 1].pose[0];
PointTwo.TarY = traffic_land_marksReal.land_marks[*CurrentID - 1].pose[1];
PointThree.TarX = traffic_land_marksReal.land_marks[*CurrentID].pose[0];
PointThree.TarY = traffic_land_marksReal.land_marks[*CurrentID].pose[1];
PointFour.TarX = traffic_land_marksReal.land_marks[*CurrentID + 1].pose[0];
PointFour.TarY = traffic_land_marksReal.land_marks[*CurrentID + 1].pose[1];
}
}
//1,获取前视距离,根据剩余距离调整前视距离
float getControlFrontDistance(float *distance)
{
float valueDis = 0;
if(agv.Command.CurDirection == 1)
{
if(agv.Command.DispatchSpeed <= 500)
valueDis = agv.Parameter.ForwardDistanceMin;
else
valueDis = agv.Parameter.ForwardDistanceMax;
}
else if(agv.Command.CurDirection == 2)
{
valueDis = agv.Parameter.ForwardDistanceMin;
}
return valueDis;
}
//2,根据当前点位在路径上的映射，求出前视点位坐标
//计算偏移量 设置不同运动方式的pid值
void calculateOffsetValue(unsigned char Direction)
{
static int i = 0;
switch (Direction)
{
case 0:
break;
case 1: //前进
navi.Private.TarAngle = CalculatingDirectionAngle(StartPoint, TargetPoint); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = -CalCoordinateDis(CurrentCenterPoint, StartPoint, TargetPoint); //车中心横向偏移量
//根据不同车型和不同方向设置pid参数
pid = navi.PIDPara[0];
if (navi.Public.VerticalDistanceAgvToTARGET < agv.Parameter.OnlyAnglePos) //小于500MM只纠角度
pid = navi.PIDPara[3];
break;
case 2: //后退
navi.Private.TarAngle = CalculatingDirectionAngle(StartPoint, TargetPoint); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = -CalCoordinateDis(CurrentCenterPoint, StartPoint, TargetPoint); //车中心横向偏移量
pid = navi.PIDPara[1];
if (navi.Public.VerticalDistanceAgvToTARGET < agv.Parameter.OnlyAnglePos && (traffic_land_marksReal.size==2 || traffic_land_marksReal.size==3)) //对接时小于500MM只纠角度
{
pid = navi.PIDPara[3];
// pid.AngleCofficient *= -1;
}
break;
case 3:
break;
case 4:
break;
case 5:
break;
case 6:
break;
case 7: //前进左转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = 0;//TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 8: //前进右转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = 0;//TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 9: //后退左转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = 0;//TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 10: //后退右转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = 0;//TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
default:
break;
}
if (Direction == 7 || Direction == 8 || Direction == 9 || Direction == 10) //转弯需要计算圆心坐标
{
CircleCenterPoint = GetCircleCenterPoint(CurrentCenterPoint,PointThree,PointFour); //计算圆心坐标
navi.Private.SetCalculationRadius = fabs(navi.Private.distancePB/tan(navi.Public.AngleDifference/2));//TwoPointDistance(CurrentCenterPoint, CircleCenterPoint); //入弯点到圆心的距离
}
}
//根据P值，I值，D值，位置偏差权重，角度偏差权重，输出偏移值
void offsetCompensationOutput(navigationPID *Pid)
{
static int i = 0;
static float LastCenterOffset = 0, LastAngleOffset = 0;
static float Error = 0, DcalError = 0, LastError = 0, SumError = 0;
//当位置和角度偏差变化重新计算
if (LastCenterOffset != navi.Public.CenterOffset || LastAngleOffset != navi.Public.AngleDifference)
{
LastCenterOffset = navi.Public.CenterOffset;
LastAngleOffset = navi.Public.AngleDifference;
//取角度和位置偏差做为偏差补偿量
Error = navi.Public.CenterOffset * Pid->PosCofficient + navi.Public.AngleDifference * 180 / PI * Pid->AngleCofficient;
DcalError = Error - LastError; //误差变化量
LastError = Error; //记录上次偏差
}
navi.Private.OutputOffset = Error * Pid->Kp + SumError * Pid->Ki + DcalError * Pid->Kd;
if (navi.Private.OutputOffset >= Pid->MaxLimit)
navi.Private.OutputOffset = Pid->MaxLimit;
else if (navi.Private.OutputOffset <= -Pid->MaxLimit)
navi.Private.OutputOffset = -Pid->MaxLimit;
}
extern float AngleDifValue;
void slamNavigation()
{
static float LimitAngle = 0;
static int i = 0;
laserDataUpdate(); //获取激光数据，以及特殊工位定点补偿**************
pathUpdate(&agv.Command.standSiteID); //执行路径更新 和站点++判断。
CalculateDistance(); //计算起始点、目标点、agv之前的距离
static float angleDiff = 0,valueDis = 0;
Line Lpath;
if(agv.Command.CurDirection == 1||agv.Command.CurDirection == 2)
{
Lpath = getLine2(StartPoint,TargetPoint);
navi.Private.FrontViewDistance = getControlFrontDistance(&navi.Public.DistanceAgvToTARGET);//获取并调节前视距离
FrontViewPoint = getControlTargetPoint(CurrentCenterPoint,Lpath,navi.Private.FrontViewDistance);//求预瞄点
navi.Private.FrontViewAngle = CalculatingDirectionAngle(CurrentCenterPoint,FrontViewPoint);//求当前点与预瞄点角度
if(agv.Command.CurDirection == 1)
angleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle,navi.Private.FrontViewAngle);//求车体与预瞄方向夹角
else
angleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI,navi.Private.FrontViewAngle);//后退
valueDis = TwoPointDistance(CurrentCenterPoint,FrontViewPoint);//当前点到预瞄点距离
if(fabs(angleDiff) > 0)
{
navi.Private.SetCalculationRadius = valueDis/2/sin(angleDiff);//前进左偏为正，右打舵 右偏为负，左打舵 后退左偏为正，左打舵 右偏为负，右打舵
}
else
navi.Private.SetCalculationRadius = 0;
static float ii = 0;
if(navi.Private.SetCalculationRadius != 0)
{
if(agv.Command.CurDirection == 1)
{
// navi.Private.SetCalculationRadius -= RIGHTSTEERDISTANCE;
if(angleDiff > 0) ii = -1;//前进左偏为正，右打舵,角度为负
else ii = 1; //前进右偏为负，左打舵，角度为正
}
else
{
// navi.Private.SetCalculationRadius += RIGHTSTEERDISTANCE;
if(angleDiff > 0) ii = 1;//后退左偏为正，左打舵,角度为正
else ii = -1; //后退右偏为负，右打舵，角度为负
}
AngleDifValue = (atan2(DISWHEELTOCENTER,fabs(navi.Private.SetCalculationRadius))*57.3*10)*ii*3;//打舵角度
}
else
AngleDifValue = 0;
if(agv.Command.CurDirection == 2)
{
LimitAngle = 150;
}
else
LimitAngle = 100;
//打舵限制
if(AngleDifValue > LimitAngle)
{
AngleDifValue = LimitAngle;
}
else if(AngleDifValue < -LimitAngle)
{
AngleDifValue = -LimitAngle;
}
calculateOffsetValue(agv.Command.CurDirection);
}
else
{
calculateOffsetValue(agv.Command.CurDirection); //计算偏移量和设置不同运动方式的pid值
offsetCompensationOutput(&pid); //计算处理得到补偿值***********
}
}
#endif