ForkLift.c
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#include "ForkLift.h"
#include "DisplacementSensor.h"
#if P_SETUP_PLATFORM_TYPE == 4
void initPlaformParam(void) //参数初始化
{
Uart_Printf(COM1, "参数初始化\r\n");
Y9(0); // 关闭agv自动充电触点
agv.Command.standSiteID = 1;
agv.Command.Au_Hand = 0;
agv.Public.i_StartFirst = false;
DriverMotor1.Command.speedSlope = 5;
DriverMotor2.Command.speedSlope = 5;
DriverLifter1.Command.speedSlope = 50;
DriverShifter1.Command.speedSlope = 50;
#if P_SETUP_SINGLE_PLAYER == 0 //0不开启单机测试 1开启
SetAlarm(0x0040);
#endif
}
void lifterRunManu(DriverStruct *Motor1) //举升手动运行
{
/*第一层举升*/
if (agv.Command.HandLiftState == 1) //上升
{
Motor1->Command.speed = agv.Parameter.LiftSpeed;
}
else if (agv.Command.HandLiftState == 2) //下降
{
Motor1->Command.speed = -agv.Parameter.LiftSpeed;
}
else
{
Motor1->Command.speed = 0;
}
//下层升降限制
if (agv.Public.i_Lift1UpLimit && Motor1->Command.speed > 0)
{
Motor1->Command.speed = 0;
}
else if (agv.Public.i_Lift1DownLimit && Motor1->Command.speed < 0)
{
Motor1->Command.speed = 0;
}
}
void lifterRunAuto(DriverStruct *Motor1) //举升自动运行
{
static int LiftOffset1 = 0;
static u8 FirstToZero1 = 0;
LiftOffset1 = DriverLifter1.Public.encoderPose - agv.Parameter.SetLift1Height; //前举升与目标高度差
//第一层举升
if (LiftOffset1 < -9) //上升
{
if(LiftOffset1 < -150)
{
Motor1->Command.speed = 90;
}
else
{
Motor1->Command.speed = agv.Parameter.SpeedUpMin;
}
if(DriverLifter1.Public.encoderPose > 1600 && DriverLifter1.Public.encoderPose < 1800)
{
Motor1->Command.speed = 40;
}
}
else if (LiftOffset1 > 9) //下降
{
if(LiftOffset1 > 150)
{
Motor1->Command.speed = -90;
}
else
{
Motor1->Command.speed = -agv.Parameter.SpeedDownMin;
}
if(DriverLifter1.Public.encoderPose > 1600 && DriverLifter1.Public.encoderPose < 2000)
{
Motor1->Command.speed = -30;
}
}
else
Motor1->Command.speed = 0;
// if (FirstToZero1 && agv.Public.i_StartFirst) //下层第一次上电归零
if(agv.Parameter.SetLift1Height == 0)
{
Motor1->Command.speed = -50;
}
//第一层升降限制
if (agv.Public.i_Lift1UpLimit && Motor1->Command.speed > 0)
{
Motor1->Command.speed = 0;
}
else if (agv.Public.i_Lift1DownLimit && Motor1->Command.speed < 0)
{
FirstToZero1 = 0;
Motor1->Command.speed = 0;
}
}
void shifterRunManu(DriverStruct *Motor1) //滚筒手动运行
{
if (agv.Command.HandShiftState == 1) //
{
Motor1->Command.speed = agv.Parameter.ShiftSpeed;
}
else if (agv.Command.HandShiftState == 2) //
{
Motor1->Command.speed = -agv.Parameter.ShiftSpeed;
}
else //停止
{
Motor1->Command.speed = 0;
}
}
void shifterRunAuto(DriverStruct *Motor1) //滚筒自动运行
{
//下层滚筒
switch (agv.Command.Shift1State)
{
case 0: //无动作或者微挪料框
Motor1->Command.speed = 0;
if (agv.Public.i_Shift1ArrivalLeft && !agv.Public.i_Shift1ArrivalRight && !agv.Public.i_Shift1_LimitRight)
{
Motor1->Command.speed = agv.Parameter.ShiftSpeed;
}
else if (agv.Public.i_Shift1ArrivalRight && !agv.Public.i_Shift1ArrivalLeft && !agv.Public.i_Shift1_LimitLeft)
{
Motor1->Command.speed = -agv.Parameter.ShiftSpeed;
}
else
Motor1->Command.speed = 0;
break;
case 1: //左边进框（右转）
Motor1->Command.speed = agv.Parameter.ShiftSpeed;
if (agv.Public.i_Shift1ArrivalLeft && agv.Public.i_Shift1ArrivalRight) //左边到位右边到位停止
{
Motor1->Command.speed = 0;
agv.Command.Shift1State = 0;
}
break;
case -1: //左边出框（左转）
Motor1->Command.speed = -agv.Parameter.ShiftSpeed;
//四个传感器全部检测不到物料，认为出框完毕停止
if (!agv.Public.i_Shift1ArrivalLeft && !agv.Public.i_Shift1ArrivalRight && !agv.Public.i_Shift1_LimitLeft && !agv.Public.i_Shift1_LimitRight)
{
Motor1->Command.speed = 0;
agv.Command.Shift1State = 0;
}
break;
case 2: //右边进框（左转）
Motor1->Command.speed = -agv.Parameter.ShiftSpeed;
if (agv.Public.i_Shift1ArrivalLeft && agv.Public.i_Shift1ArrivalRight) //左边到位右边到位停止
{
Motor1->Command.speed = 0;
agv.Command.Shift1State = 0;
}
break;
case -2: //右边出框（右转）
Motor1->Command.speed = agv.Parameter.ShiftSpeed;
//四个传感器全部检测不到物料，认为出框完毕停止
if (!agv.Public.i_Shift1ArrivalLeft && !agv.Public.i_Shift1ArrivalRight && !agv.Public.i_Shift1_LimitLeft && !agv.Public.i_Shift1_LimitRight)
{
Motor1->Command.speed = 0;
agv.Command.Shift1State = 0;
}
break;
}
}
void checkMaterialState() //物料检测
{
//下层物料检测
if (agv.Public.i_Shift1ArrivalLeft && agv.Public.i_Shift1ArrivalRight)
{
agv.Public.i_MaterialFlagFirst = 1;
}
else if (!agv.Public.i_Shift1ArrivalLeft && !agv.Public.i_Shift1ArrivalRight && !agv.Public.i_Shift1_LimitLeft && !agv.Public.i_Shift1_LimitRight)
{
agv.Public.i_MaterialFlagFirst = 0;
}
else
agv.Public.i_MaterialFlagFirst = 2;
}
void platformControlManual() //平台手动运行
{
lifterRunManu(&DriverLifter1);
shifterRunManu(&DriverShifter1);
}
void platformControlAuto() //平台自动对接
{
lifterRunAuto(&DriverLifter1);
shifterRunAuto(&DriverShifter1);
}
void ForkliftAngleAdjustment()//叉车角度调整
{
static float curAngleQuadrant = 0,angleDif = 0;
static u8 AdjustStep = 1;
curAngleQuadrant = CalculateCurAngle(CurrentCenterPoint.CurAngle*57.3)/57.3;//求出当前所在象限
angleDif = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle,curAngleQuadrant);
if(angleDif > 0.01)//偏左大于0，右转
{
DriverSteering1.Command.angle = 895;
if(fabs(abs(DriverSteering1.Public.encoderPose) - fabs(DriverSteering1.Command.angle))<100)
DriverSteering1.Command.speed = -150;
}
else if(angleDif < -0.01)//偏右小于0，左转
{
DriverSteering1.Command.angle = 895;
if(fabs(abs(DriverSteering1.Public.encoderPose) - fabs(DriverSteering1.Command.angle))<100)
DriverSteering1.Command.speed = 150;
}
else
{
DriverSteering1.Command.angle = 0;
DriverSteering1.Command.speed = 0;
Reset_Alarm(0x020);
SetAlarm(0x200);
agv.Public.i_ForkliftAngleAdjustment = 0;
agv.Public.finishStatus = 1;
agv.Public.finishTaskSig = 1;
}
}
void sendCommandToCharging(u8 state)
{
static int lastTime = 0;
unsigned char string_out[100] = {0},i = 0;
static unsigned char string_len = 0,step = 1;
if(agv.Public.SystemTime - lastTime > 500)
{
lastTime = agv.Public.SystemTime;
if(state == 1)
{
if(step == 1)
{
string_len = sprintf((char *)string_out, "C001##,,C001,,s,,setvmot,,4::%d,,0000,,ZZ",0);
WriteUart(COM6,string_out,string_len);
step = 2;
}
else if(step == 2)
{
string_len = sprintf((char *)string_out, "C001##,,C001,,s,,setvmot,,4::%d,,0000,,ZZ",state);
WriteUart(COM6,string_out,string_len);
}
}
else
{
string_len = sprintf((char *)string_out, "C001##,,C001,,s,,setvmot,,4::%d,,0000,,ZZ",state);
WriteUart(COM6,string_out,string_len);
}
}
}
int chargingVol,chargingCurrent,startState,extendState,backState;
void ProccessChargingInfo(unsigned char *RecvBuffer, unsigned short BufferLength)
{
int data1,data2,data3,data4,data5,data9;
if (strncmp("#", (const char *)RecvBuffer, 1) == 0)
{
sscanf((const char *)RecvBuffer, "#,,C001,,s,,rptmt,,%d::%d::%d::%d::%d::%d::%d::%d::%d::%d,,%x,,ZZ", &chargingVol,&chargingCurrent,&data1,&data2,&data3,&startState,&data4,&data5,&extendState,&backState,&data9);
}
}
void ProccessChargingDATAInfo(unsigned char *Res)
{
static unsigned char Buffer2[120],ReceiveFlag = 0;
static unsigned short iii = 0;
if (iii > 100)
{
iii = 0;
ReceiveFlag = 0;
}
if (*Res == '#') // $
{
iii = 0;
ReceiveFlag = 0;
}
Buffer2[iii++] = *Res;
if (*Res == 'Z') // #
{
if(ReceiveFlag)
{
ProccessChargingInfo((unsigned char *)Buffer2, iii);
memset(Buffer2,0,sizeof(Buffer2));
iii = 0;
ReceiveFlag = 0;
}
else
ReceiveFlag = 1;
}
}
void receiveCommandFromCharging()
{
unsigned char buff[100];
unsigned int len;
unsigned i;
len = ReadUart(COM6, buff, 100);
if (len > 0)
{
for (i = 0; i < len; i++)
{
ProccessChargingDATAInfo(buff + i);
}
}
}
void X_Input()
{
agv.Public.i_RadarSigFront_1 = MasterInput.IN1 = !X19;//前壁障减速1
agv.Public.i_RadarSigFront_2 = MasterInput.IN2 = !X20;//前壁障减速2
agv.Public.i_RadarSigFront_3 = MasterInput.IN3 = !X21;//前壁障减速3
agv.Public.i_RadarSigBack_1 = MasterInput.IN4 = !X22;//后壁障减速1
agv.Public.i_RadarSigBack_2 = MasterInput.IN5 = !X23;//后壁障减速2
agv.Public.i_RadarSigBack_3 = MasterInput.IN6 = !X24;//后壁障减速3
agv.Command.Au_Hand = X5;//手自动切换
agv.Public.i_QuickStopSig = MasterInput.IN7 = !X6;// 急停 常开
agv.Public.i_BumperSig = MasterInput.IN8 = X14;//防撞条
agv.Public.i_StartSig = MasterInput.IN9 = X16;// 启动
agv.Public.i_StopSig = MasterInput.IN10 = X15;//暂停
// agv.Public.i_LightStopFlagL = MasterInput.IN13 = X1;//左停靠
// agv.Public.i_LightStopFlagR = MasterInput.IN14 = X2;//右停靠
//
agv.Public.i_Lift1UpLimit = MasterInput.IN12 = X4;//升降1上限位
agv.Public.i_Lift1DownLimit = MasterInput.IN11 = X3;//升降1下限位
agv.Public.i_materialArriveFlag = MasterInput.IN18 = X18;//物料到位信号
// agv.Public.i_Lift2UpLimit = MasterInput.IN15 = !X15;//升降2上限位
// agv.Public.i_Lift2DownLimit = MasterInput.IN16 = !X16;//升降2下限位
//
// agv.Public.i_Shift1_LimitLeft = MasterInput.IN17 = X17;//滚筒1左极限
// agv.Public.i_Shift1_LimitRight = MasterInput.IN18 = X18;//滚筒1右极限
// agv.Public.i_Shift2_LimitLeft = MasterInput.IN21 = X21;//滚筒2左极限
// agv.Public.i_Shift2_LimitRight = MasterInput.IN22 = X22;//滚筒2右极限
//
// agv.Public.i_Shift1ArrivalLeft = MasterInput.IN19 = X19;//滚筒1左到位对射
// agv.Public.i_Shift1ArrivalRight = MasterInput.IN20 = X20;//滚筒1右到位对射
// agv.Public.i_Shift2ArrivalLeft = MasterInput.IN23 = X23;//滚筒2左到位对射
// agv.Public.i_Shift2ArrivalRight = MasterInput.IN24 = X24;//滚筒2右到位对射
// if(!agv.Command.Au_Hand)
// {
// agv.Public.i_HandLiftSig = X7;
// agv.Public.i_HandDownSig = X8;
// if(agv.Public.i_HandLiftSig)
// Lifter1.runState = 1;
// else if(agv.Public.i_HandDownSig)
// Lifter1.runState = 2;
//
// agv.Public.i_HandFrontSig = X9;
// agv.Public.i_HandBackSig = X10;
// agv.Public.i_HandTurnLeftSig = X11;
// agv.Public.i_HandTurnRightSig = X12;
// if(agv.Public.i_HandFrontSig)
// agv.Command.HandMotorState = 1;
// else if(agv.Public.i_HandBackSig)
// agv.Command.HandMotorState = 2;
// else if(agv.Public.i_HandTurnLeftSig)
// agv.Command.HandMotorState = 3;
// else if(agv.Public.i_HandTurnRightSig)
// agv.Command.HandMotorState = 4;
// else
// agv.Command.HandMotorState = 0;
// ;
//
// }
}
void platformDataProcess(void)
{
X_Input();//IO输入信号
//自动模式且开启红外，雷达避障信号
if(agv.Command.Au_Hand&&agv.Command.Barrier_ONOFF)
{
if(agv.Command.CurDirection == 1 || agv.Command.CurDirection == 7 || agv.Command.CurDirection == 8)//前进方向
{
if((agv.Command.LaserArea!=0))
{
if(agv.Public.i_RadarSigFront_3)//最里层雷达避障
{
SetAlarm(0x0001);//停车
}
else
{
Reset_Alarm(0x0001);//取消停车避障
}
if(agv.Public.i_RadarSigFront_2)//二级减速
{
agv.Public.i_DoubleReduction = 1;//开启二级减速
}
else
{
agv.Public.i_DoubleReduction = 0;//取消二级减速
}
if(agv.Public.i_RadarSigFront_1)//一级减速
{
agv.Public.i_Reduction = 1;//开启一级减速
}
else
{
agv.Public.i_Reduction = 0;//取消一级减速
}
}
else
{
Reset_Alarm(0x0001);
agv.Public.i_DoubleReduction = 0;
agv.Public.i_Reduction = 0;
}
}
else if(agv.Command.CurDirection == 2 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10)//后退方向
{
if(agv.Command.LaserArea!=0)
{
if(agv.Public.i_RadarSigBack_3)//最里层雷达避障（后）
{
SetAlarm(0x0001);//停车
}
else
{
Reset_Alarm(0x0001);//取消停车避障
}
if(agv.Public.i_RadarSigBack_2)//二级减速
{
agv.Public.i_DoubleReduction = 1;//开启二级减速
}
else
{
agv.Public.i_DoubleReduction = 0;//取消二级减速
}
if(agv.Public.i_RadarSigBack_1)//一级减速
{
agv.Public.i_Reduction = 1;//开启一级减速
}
else
{
agv.Public.i_Reduction = 0;//取消一级减速
}
}
else
{
Reset_Alarm(0x0001);
agv.Public.i_DoubleReduction = 0;
agv.Public.i_Reduction = 0;
}
}
}
else//不开启避障
{
Reset_Alarm(0x0001);//取消停车避障
agv.Public.i_Reduction = 0;//取消一级减速
agv.Public.i_DoubleReduction = 0;//取消二级减速
}
//防撞条
if(agv.Public.i_BumperSig)
{
SetAlarm(0x0006);//停车，防撞条报警和暂停触发
}
else
Reset_Alarm(0x0002);//取消防撞条报警
//急停触发
if (agv.Public.i_QuickStopSig)
{
SetAlarm(0x0104);//急停和暂停触发，防止再启动
}
else
{
Reset_Alarm(0x0100);//取消急停报警
}
if(agv.Public.i_StartSig)//启动
{
Reset_Alarm(0x1005);
}
if(agv.Public.i_StopSig)
{
SetAlarm(0x0004);//暂停
}
// if(agv.Public.i_Lift1DownLimit)//拉线编码器清零
// {
// SetLiftHeightZero();
// }
//启动和暂停指示灯
if(agv.Command.Au_Hand && (agv.Public.Error_Flag == 0 ))//自动模式无异常显示启动灯
{
Y6(1);
Y7(0);
}
else
{
Y6(0);
Y7(1);
}
agv.Public.i_quadEncoder1 = TIM_GetCounter(TIM1);
agv.Public.i_quadEncoder2 = TIM_GetCounter(TIM2);
agv.Public.i_quadEncoder3 = TIM_GetCounter(TIM3);
agv.Public.i_quadEncoder4 = TIM_GetCounter(TIM4);
// agv.Public.i_LiftHeightFirst = agv.Public.i_quadEncoder1/4;
checkMaterialState(); //物料检测
//自动模式脱轨判断
if(agv.Command.Au_Hand)
{
// if(!(agv.Command.LandMarkID == 40 || agv.Command.LandMarkID == 42 || agv.Command.LandMarkID == 44))
// {
// if(agv.Command.CurDirection == 2&& navi.Public.VerticalDistanceAgvToTARGET < 1100 && navi.Public.VerticalDistanceAgvToTARGET >600&&(traffic_land_marksReal.size==2||traffic_land_marksReal.size==3))
// {
// if(fabs(navi.Public.CenterOffset) > agv.Public.PosOffsetLimit || fabs(navi.Public.AngleDifference*57.3) > 3)
// {
// agv.Public.i_SecondCommunication = 1;
// SetAlarm(0x0080);//库位无法正常对接
// }
// }
// }
//前进后退距离脱轨判断
if(agv.Command.CurDirection == 1||agv.Command.CurDirection == 2)
{
if((navi.Public.DistanceAgvToSTART >= navi.Public.DistanceSTARTtoTARGET + 400) )//距离偏差大于40CM，脱轨
{
SetAlarm(0x8000);//脱轨报警
}
else
Reset_Alarm(0x8000);//取消脱轨报警
}
else
Reset_Alarm(0x8000);//取消脱轨报警
//前进后退，弧线左右转做脱轨判断
if(agv.Command.CurDirection == 1||agv.Command.CurDirection == 2)
// ||agv.Command.CurDirection == 7
// ||agv.Command.CurDirection == 8||agv.Command.CurDirection == 9||agv.Command.CurDirection == 10)
{
if((fabs(navi.Public.CenterOffset) > 300 ) )//位置偏差大于10CM，脱轨||
{
SetAlarm(0x0008);//脱轨报警
}
else
Reset_Alarm(0x0008);//取消脱轨报警
}
else
Reset_Alarm(0x0008);//取消脱轨报警
//9号输送线出来直行特殊处理
if(agv.Command.LandMarkID == 16 || agv.Command.LandMarkID == 18 || agv.Command.LandMarkID == 157)
Reset_Alarm(0x0008);
}
}
/*SETVMOT动作指令解析*/
#endif