QRcode.c
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#include "QRcode.h"
KincoStructInfo KincoStruct1,KincoStruct2;
IMUdata IMU;
LifterStructInfo Lifter1;
RotateStructInfo Rotate1;
#if P_SETUP_NAV_TYPE==1
/******二维码坐标更新*******/
void CameraDataUpdate()
{
CurrentCenterPoint.TarX = Camera.XCoordingData + navi.Public.DistanceAgvToSTART; //X补偿
CurrentCenterPoint.TarY = Camera.YCoordingData + navi.Public.CenterOffset; //Y补偿
CurrentCenterPoint.CurAngle = Camera.angle + agv.Command.W_compensation; //W补偿
if(CurrentCenterPoint.CurAngle > PI)
{
CurrentCenterPoint.CurAngle -= 2*PI;
}
else if(CurrentCenterPoint.CurAngle < -PI)
{
CurrentCenterPoint.CurAngle += 2*PI;
}
}
unsigned char ArriveJugement()//到达判断
{
static u8 lastStopFlagL = 0,lastStopFlagR = 0;
if(Camera.XCoordingData == TargetPoint.TarX&&Camera.YCoordingData == TargetPoint.TarY)//识别到二维码停车
{
if (fabs(Camera.X_pixel) < POSARRIVE_RANGE)
{
return 1;
}
else
{
return 0;
}
}
return 0;
}
//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;
navi.Public.DistanceAgvToSTART = 0;
/****单机测试***/
#if P_SETUP_SINGLE_PLAYER == 1
if (*CurrentID >= traffic_land_marks.size)
{
*CurrentID = 1;
traffic_land_marks.land_marks[0].Direction = 3;
traffic_land_marks.land_marks[1].Direction = 3;
traffic_land_marks.land_marks[2].Direction = 3;
traffic_land_marks.land_marks[3].Direction = 4;
}
// }
#elif P_SETUP_SINGLE_PLAYER == 0
if (*CurrentID >= traffic_land_marks.size)
{
if(Lifter1.liftState == 1||CameraTwo.UpdataFlag == 0)
{
SetAlarm(0x200);
agv.Public.i_UpdatePathSig = 1;
}
else if(Lifter1.liftState == -1)
{
SetAlarm(0x020);//货架纠偏
agv.Public.i_PlatformStopFlag = 1;
}
}
#endif
Uart_Printf(COM1, "站点更新，当前站点 = %d 当前方向 = %d Error_Flag = %x\r\n", agv.Command.standSiteID, agv.Command.CurDirection, agv.Public.Error_Flag);
}
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)||(navi.Public.AngleDifference*lastAnglediff<0))
{
*CurrentID += 1;
}
lastAnglediff = navi.Public.AngleDifference;
}
agv.Command.LandMarkID = traffic_land_marks.land_marks[*CurrentID - 1].LandMarkID;
agv.Command.DispatchSpeed = traffic_land_marks.land_marks[*CurrentID - 1].DispatchSpeed; //系统下发速度
agv.Command.CurDirection = traffic_land_marks.land_marks[*CurrentID - 1].Direction; //当前站点运行方向
agv.Command.LaserArea = traffic_land_marks.land_marks[*CurrentID - 1].LaserArea;
if (*CurrentID < traffic_land_marks.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.LightStopSig = traffic_land_marks.land_marks[*CurrentID].LightStopSig; //目标站点广电信号
agv.Command.NextDirection = traffic_land_marks.land_marks[*CurrentID].Direction; //下个站点运行方向
agv.Command.NextDispatchSpeed = traffic_land_marks.land_marks[*CurrentID].DispatchSpeed;
}
else //已经是最后一个站点，没有下一个站点清零
{
agv.Command.LightStopSig = 0;
agv.Command.NextDirection = 0;
agv.Command.NextDispatchSpeed = 0;
}
StartPoint.TarX = traffic_land_marks.land_marks[*CurrentID - 1].pose[0]; //当前点（起点）
StartPoint.TarY = traffic_land_marks.land_marks[*CurrentID - 1].pose[1];
TargetPoint.TarX = traffic_land_marks.land_marks[*CurrentID].pose[0]; //目标点（终点）
TargetPoint.TarY = traffic_land_marks.land_marks[*CurrentID].pose[1];
if(StartPoint.TarX == TargetPoint.TarX)
{
if(TargetPoint.TarY > StartPoint.TarY)
{
agv.Command.RunState = 1;
}
else
agv.Command.RunState = 3;
}
else if(StartPoint.TarY == TargetPoint.TarY)
{
if(TargetPoint.TarX > StartPoint.TarX)
{
agv.Command.RunState = 0;
}
else
agv.Command.RunState = 2;
}
if (*CurrentID >= 2 && *CurrentID < traffic_land_marks.size - 1) //实现弧线转弯需要有四个点位计算
{
PointOne.TarX = traffic_land_marks.land_marks[*CurrentID - 2].pose[0];
PointOne.TarY = traffic_land_marks.land_marks[*CurrentID - 2].pose[1];
PointTwo.TarX = traffic_land_marks.land_marks[*CurrentID - 1].pose[0];
PointTwo.TarY = traffic_land_marks.land_marks[*CurrentID - 1].pose[1];
PointThree.TarX = traffic_land_marks.land_marks[*CurrentID].pose[0];
PointThree.TarY = traffic_land_marks.land_marks[*CurrentID].pose[1];
PointFour.TarX = traffic_land_marks.land_marks[*CurrentID + 1].pose[0];
PointFour.TarY = traffic_land_marks.land_marks[*CurrentID + 1].pose[1];
}
}
void getPosAngleOffset(float *PosOffset,float *Theta)
{
double Vx = (KincoStruct1.encodeSpeed+KincoStruct2.encodeSpeed)/2*1;//实际线速度
static int lastTime = 0,lastTime2 = 0;
static int i = 0;
*Theta = IMU.angle + IMU.angleCompensation;
if(*Theta > 2*PI)
{
*Theta -= 2*PI;
}
else if(*Theta < -2*PI)
{
*Theta += 2*PI;
}
if(Camera.UpdataFlag == 1)//有码
{
IMU.angleCompensation = Camera.angle - IMU.angle;
// if(agv.Command.RunState == 2 || agv.Command.RunState == 0)
// {
// if(agv.Command.SetBaseSpeed > 500)
// {
// if(agv.Command.RunState == 2)
// {
// *PosOffset = Camera.Y_pixel*1;
// }
// else if(agv.Command.RunState == 0)
// {
// *PosOffset = Camera.Y_pixel*1 + 5;
// }
// else if(agv.Command.RunState == 3)
// {
// *PosOffset = Camera.Y_pixel*1 + 5;
// }
// else
{
*PosOffset = Camera.Y_pixel*1;// + 5;
}
// }
// else
// *PosOffset = Camera.Y_pixel*1;
// }
// else
// {
// *PosOffset = Camera.Y_pixel*1+13;
// }
if(i++ >20)
{
i = 0;
Uart_Printf(COM1,"速度 = %.2f %.2f Vx = %.2f 角速度 = %.5f 行走距离 = %.2f 位置偏移 = %.2f 角度 = %.2f 惯导角度 = %.2f 距离目标 = %.2f\r\n",
KincoStruct1.encodeSpeed,KincoStruct2.encodeSpeed,Vx,IMU.palstance,navi.Public.DistanceAgvToSTART,*PosOffset,*Theta*57.3,IMU.angle*57.3,navi.Public.DistanceAgvToTARGET);
}
}
else//无码
{
if(agv.Public.SystemTime - lastTime >= 20)//20Ms积分一次
{
lastTime = agv.Public.SystemTime;
CalculateXBias(Vx,0,IMU.palstance,0.02,0,PosOffset,Theta);
Uart_Printf(COM1,"速度 = %.2f %.2f 角速度 = %.5f 行走距离 = %.2f 位置偏移 = %.2f 角度 = %.2f 惯导角度 = %.2f 距离目标 = %.2f\r\n",
KincoStruct1.encodeSpeed,KincoStruct2.encodeSpeed,IMU.palstance,navi.Public.DistanceAgvToSTART,*PosOffset,*Theta*57.3,IMU.angle*57.3,navi.Public.DistanceAgvToTARGET);
}
}
if((agv.Public.SystemTime - lastTime2 >= 30))
{
lastTime2 = agv.Public.SystemTime;
CalculateXBias(Vx,0,IMU.palstance,0.03,&navi.Public.DistanceAgvToSTART,0,Theta);
}
// if(i ++ > 10)
// {
// i = 0;
// Uart_Printf(COM1,"速度 = %.2f %.2f Vx = %.2f 角速度 = %.5f 行走距离 = %.2f 位置偏移 = %.2f 角度 = %.2f 惯导角度 = %.2f\r\n",
// KincoStruct1.encodeSpeed,KincoStruct2.encodeSpeed,Vx,IMU.palstance,navi.Public.DistanceAgvToSTART,*PosOffset,*Theta*57.3,IMU.angle*57.3);
// }
}
//计算偏移量 设置不同运动方式的pid值
void calculateOffsetValue(unsigned char Direction)
{
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 = TwoPointDistance(PointTwo, CircleCenterPoint); //入弯点到圆心的距离
}
// getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
switch (Direction)
{
case 0:
break;
case 1: //前进
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
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 = -getPosAngleOffset(); //车中心横向偏移量
//根据不同车型和不同方向设置pid参数
if(agv.Command.SetBaseSpeed >= 500)
{
pid = navi.PIDPara[0];
}
else if(agv.Command.SetBaseSpeed <500 && agv.Command.SetBaseSpeed >= 200)
{
pid = navi.PIDPara[1];
}
else
{
pid = navi.PIDPara[2];
}
if (navi.Public.DistanceAgvToTARGET < agv.Parameter.OnlyAnglePos) //小于500MM只纠角度
{
pid = navi.PIDPara[3];
}
break;
case 2: //后退
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
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 = getPosAngleOffset(); //车中心横向偏移量
pid = navi.PIDPara[1];
// if (navi.Public.VerticalDistanceAgvToTARGET < agv.Parameter.OnlyAnglePos) //小于500MM只纠角度
// {
// pid = navi.PIDPara[3];
// pid.AngleCofficient *= -1;
// }
break;
case 3:
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
break;
case 4:
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
break;
case 5:
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
break;
case 6:
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);//获取当前角度和位置偏移量
break;
default:
break;
}
}
//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;
}
#if PRINT_TYPE_SELECT == 1
if (i++ > PRINT_FREQUENCY)
{
i = 0;
// Uart_Printf(COM1,"当前方向 = %d,角度偏差 = %.2f,位置偏差 = %.2f,输出补偿值 = %.2f\r\n",
// agv.Command.CurDirection,navi.Public.AngleDifference*57.3,navi.Public.CenterOffset,navi.Private.OutputOffset);
// Uart_Printf(COM1, "X = %d Y = %d, 当前角度 = %.2f 目标角度 = %.2f 角度偏差 = %.2f,位置偏差 = %.2f,输出补偿值 = %.2f\r\n",
// XCoordingData, YCoordingData,
// CurrentCenterPoint.CurAngle,navi.Private.TarAngle,
// navi.Public.AngleDifference * 57.3, navi.Public.CenterOffset, navi.Private.OutputOffset);
}
#endif
}
float CalculateDiffAngle(float A,float B)
{
static float angle = 0;
if(fabs(A - B) > 180)
{
// if(A > B)
// angle = fabs(A - B - 360);
// else if(A < B)
angle = fabs(fabs(A - B) - 360);
}
else
angle = fabs(A - B);
return angle;
}
float judgeOffset = 8,controlOffset = 3;//一个是判断误差，一个是控制误差
void LookforPlatformPos()
{
static u8 StepFlag = 1,SelectFlag = 1;
if((fabs(CameraTwo.X_pixel) < judgeOffset && fabs(CameraTwo.Y_pixel) < judgeOffset) && SelectFlag == 1)//误差允许范围之内
{
Reset_Alarm(0x020);
SetAlarm(0x200);
agv.Public.i_UpdatePathSig = 1;
agv.Public.i_PlatformStopFlag = 0;
}
else
{
SelectFlag = 0;//关闭判断到位标志，开始纠偏
if(StepFlag == 1)//第一步纠正前后方向
{
if(CameraTwo.X_pixel > controlOffset)//超过允许误差
{
//后退
agv.Command.AGVControlState = 1;
}
else if(CameraTwo.X_pixel < - controlOffset)
{
//前进
agv.Command.AGVControlState = 2;
}
else
{
agv.Command.AGVControlState = 0;
StepFlag = 2;
}
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);//当前处于哪个轴
}
else if(StepFlag == 2)//第二步左转
{
agv.Command.AGVControlState = 3;//开始转弯
if(fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90) < 0.5)//转到位
{
agv.Command.AGVControlState = 0;
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);
StepFlag = 3;
}
}
else if(StepFlag == 3)//第三步纠正前后方向
{
if(CameraTwo.X_pixel > controlOffset)//超过允许误差
{
//后退
agv.Command.AGVControlState = 1;
}
else if(CameraTwo.X_pixel < -controlOffset)
{
//前进
agv.Command.AGVControlState = 2;
}
else
{
agv.Command.AGVControlState = 0;
StepFlag = 4;
}
}
else if(StepFlag == 4)//第四步回正
{
agv.Command.AGVControlState = 4;//开始转弯
if(fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90) < 0.5)//转到位
{
agv.Command.AGVControlState = 0;
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);
StepFlag = 1;
SelectFlag = 1;
}
}
}
}
void LookforPlatformaSetSpeed()
{
static float diffAngle = 0,SpeedValue = 0;
diffAngle = fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90);
switch (agv.Command.AGVControlState)
{
case 0x00:
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
break;
case 0x01: //前进
KincoStruct1.setSpeed = 5;
KincoStruct2.setSpeed = 5;
break;
case 0x02: //后退
KincoStruct1.setSpeed = -5;
KincoStruct2.setSpeed = -5;
break;
case 0x03: //左转
if(diffAngle > 30)
{
KincoStruct1.setSpeed = -agv.Parameter.HandTurnSpeed;
KincoStruct2.setSpeed = agv.Parameter.HandTurnSpeed;
}
else if(diffAngle > 0.5)
{
SpeedValue = mapping(diffAngle,0.5,30,20,agv.Parameter.HandTurnSpeed);
KincoStruct1.setSpeed = -SpeedValue;
KincoStruct2.setSpeed = SpeedValue;
}
else
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
break;
case 0x04: //右转
if(diffAngle > 30)
{
KincoStruct1.setSpeed = agv.Parameter.HandTurnSpeed;
KincoStruct2.setSpeed = -agv.Parameter.HandTurnSpeed;
}
else if(diffAngle > 0.5)
{
SpeedValue = mapping(diffAngle,0.5,30,20,agv.Parameter.HandTurnSpeed);
KincoStruct1.setSpeed = SpeedValue;
KincoStruct2.setSpeed = -SpeedValue;
}
else
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
break;
}
}
void QRcodeNavigation()
{
CameraDataUpdate();
pathUpdate(&agv.Command.standSiteID); //执行路径更新 和站点++判断。
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***********
// CalculateDistance();
if(agv.Public.i_PlatformStopFlag)//寻找货架二维码中心位置
{
LookforPlatformPos();
if(!(agv.Public.Error_Flag & 0x0100))//不是急停情况下
{
LookforPlatformaSetSpeed();//货架纠偏速度发送
}
}
}
#endif