DoubleSMT.c.orig
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#include "DoubleSMT.h"
#if P_SETUP_PLATFORM_TYPE == 2
void ParameInitie2(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_UpdatePathSig = 1;
DriverMotor1.Command.speedSlope = 5;
DriverMotor2.Command.speedSlope = 5;
DriverLifter1.Command.speedSlope = 50;
DriverLifter2.Command.speedSlope = 50;
DriverShifter1.Command.speedSlope = 50;
DriverShifter2.Command.speedSlope = 50;
#if P_SETUP_SINGLE_PLAYER == 0//0不开启单机测试 1开启
SetAlarm(0x0040);
#endif
}
void LiftRun_Hand2(DriverStruct *Motor1,DriverStruct *Motor2)//举升手动运行
{
/*上层举升*/
if(AGV.Command.HandLiftState == 1)//上升
{
Motor2->Command.speed = AGV.Parameter.LiftSpeed;
}
else if(AGV.Command.HandLiftState == 2)//下降
{
Motor2->Command.speed = -AGV.Parameter.LiftSpeed;
}
else
{
Motor2->Command.speed = 0;
}
/*第二层举升限制*/
if(AGV.Public.i_LiftUpLimitSecond && Motor2->Command.speed > 0)
{
Motor2->Command.speed = 0;
}
else if(AGV.Public.i_LiftDownLimitSecond && Motor2->Command.speed < 0)
{
Motor2->Command.speed = 0;
}
/*第一层举升*/
if(AGV.Command.HandLiftState == 3)//上升
{
Motor1->Command.speed = AGV.Parameter.LiftSpeed;
}
else if(AGV.Command.HandLiftState == 4)//下降
{
Motor1->Command.speed = -AGV.Parameter.LiftSpeed;
}
else
{
Motor1->Command.speed = 0;
}
//下层升降限制
if(AGV.Public.i_LiftUpLimitFirst && Motor1->Command.speed > 0)
{
Motor1->Command.speed = 0;
}
else if(AGV.Public.i_LiftDownLimitFirst && Motor1->Command.speed < 0)
{
Motor1->Command.speed = 0;
}
}
void LiftRun_Auto2(DriverStruct *Motor1, DriverStruct *Motor2)//举升自动运行
{
static int LiftOffset1 = 0,LiftOffset2 = 0;
static u8 FirstToZero1 = 1,FirstToZero2 = 1;
LiftOffset1 = AGV.Public.i_LiftHeightFirst - AGV.Parameter.SetLiftHightFirst;//前举升与目标高度差
LiftOffset2 = AGV.Public.i_LiftHeightSecond - AGV.Parameter.SetLiftHightSecond;//后举升与目标高度差
//第一层举升
if(LiftOffset1 < -LIFTARRIVEVALUE)//上升
{
if(LiftOffset1 < -30)
{
Motor1->Command.speed = AGV.Parameter.LiftSpeed;
}
else
{
Motor1->Command.speed = mapping(LiftOffset1,0,-30,100,(float)AGV.Parameter.LiftSpeed);
}
}
else if(LiftOffset1 > LIFTARRIVEVALUE)//下降
{
if(LiftOffset1 > 30)
{
Motor1->Command.speed = -AGV.Parameter.LiftSpeed;
}
else
{
Motor1->Command.speed = mapping(LiftOffset1,0,30,-100,-(float)AGV.Parameter.LiftSpeed);
}
}
else
Motor1->Command.speed = 0;
if(FirstToZero1)//第一次上电归零
{
Motor1->Command.speed = -AGV.Parameter.LiftSpeed;
}
//第一层升降限制
if(AGV.Public.i_LiftUpLimitFirst && Motor1->Command.speed > 0)
{
Motor1->Command.speed = 0;
}
else if(AGV.Public.i_LiftDownLimitFirst && Motor1->Command.speed < 0)
{
FirstToZero1 = 0;
Motor1->Command.speed = 0;
}
//第二层举升
if(LiftOffset2 < -LIFTARRIVEVALUE)//上升
{
if(LiftOffset2 < -30)
{
Motor2->Command.speed = AGV.Parameter.LiftSpeed;
}
else
{
Motor2->Command.speed = mapping(LiftOffset2,0,-30,100,(float)AGV.Parameter.LiftSpeed);
}
}
else if(LiftOffset2 > LIFTARRIVEVALUE)//下降
{
if(LiftOffset2 > 30)
{
Motor2->Command.speed = -AGV.Parameter.LiftSpeed;
}
else
{
Motor2->Command.speed = mapping(LiftOffset2,0,30,-100,-(float)AGV.Parameter.LiftSpeed);
}
}
else
Motor2->Command.speed = 0;
if(FirstToZero2)//第一次上电归零
{
Motor2->Command.speed = -AGV.Parameter.LiftSpeed;
}
//第二层升降限制
if(AGV.Public.i_LiftUpLimitSecond && Motor2->Command.speed > 0)
{
Motor2->Command.speed = 0;
}
else if(AGV.Public.i_LiftDownLimitSecond && Motor2->Command.speed < 0)
{
FirstToZero2 = 0;
Motor2->Command.speed = 0;
}
}
void ShifterRun_Hand2(DriverStruct *Motor1,DriverStruct *Motor2)//滚筒手动运行
{
if(AGV.Command.HandShiftState == 1)//下层右转
{
Motor2->Command.speed = AGV.Parameter.ShiftSpeed;
}
else if(AGV.Command.HandShiftState == 2) //下层左转
{
Motor2->Command.speed = -AGV.Parameter.ShiftSpeed;
}
else
{
Motor2->Command.speed = 0;
}
if(AGV.Command.HandShiftState == 3) //上层右转
{
Motor1->Command.speed = AGV.Parameter.ShiftSpeed;
}
else if(AGV.Command.HandShiftState == 4)//上层左转
{
Motor1->Command.speed = -AGV.Parameter.ShiftSpeed;
}
else//停止
{
Motor1->Command.speed = 0;
}
}
void ShifterRun_Auto2(DriverStruct *Motor1,DriverStruct *Motor2)//滚筒自动运行
{
//上层滚筒
switch (AGV.Command.RollerStateSecond)
{
case 0://无动作或者微挪料框
Motor2->Command.speed = 0; //左边到位，右边不到位且右边极限未出发，右转
if(AGV.Public.i_SecondArrivalMaterialL && !AGV.Public.i_SecondArrivalMaterialR && !AGV.Public.i_SecondLimitR)
{
Motor2->Command.speed = AGV.Parameter.ShiftSpeed;
} //右边到位，左边不到位且左边极限未出发，左转
else if(AGV.Public.i_SecondArrivalMaterialR && !AGV.Public.i_SecondArrivalMaterialL && !AGV.Public.i_SecondLimitL)
{
Motor2->Command.speed = -AGV.Parameter.ShiftSpeed;
}
else
Motor2->Command.speed = 0;
break;
case 1://左边进框（右转）
Motor2->Command.speed = AGV.Parameter.ShiftSpeed;
if(AGV.Public.i_SecondArrivalMaterialL && AGV.Public.i_SecondArrivalMaterialR)//左边到位右边到位停止
{
Motor2->Command.speed = 0;
AGV.Command.RollerStateSecond = 0;
}
break;
case -1://左边出框（左转）
Motor2->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_SecondArrivalMaterialL && !AGV.Public.i_SecondArrivalMaterialR && !AGV.Public.i_SecondLimitL && !AGV.Public.i_SecondLimitR)
{
Motor2->Command.speed = 0;
AGV.Command.RollerStateFirst = 0;
}
break;
case 2://右边进框（左转）
Motor2->Command.speed = -AGV.Parameter.ShiftSpeed;
if(AGV.Public.i_SecondArrivalMaterialL && AGV.Public.i_SecondArrivalMaterialR)//左边到位右边到位停止
{
Motor2->Command.speed = 0;
AGV.Command.RollerStateSecond = 0;
}
break;
case -2://右边出框（右转）
Motor2->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_SecondArrivalMaterialL && !AGV.Public.i_SecondArrivalMaterialR && !AGV.Public.i_SecondLimitL && !AGV.Public.i_SecondLimitR)
{
Motor2->Command.speed = 0;
AGV.Command.RollerStateFirst = 0;
}
break;
}
//下层滚筒
switch (AGV.Command.RollerStateFirst)
{
case 0://无动作或者微挪料框
Motor1->Command.speed = 0;
if(AGV.Public.i_FirstArrivalMaterialL&&!AGV.Public.i_FirstArrivalMaterialR&&!AGV.Public.i_FirstLimitR)
{
Motor1->Command.speed = AGV.Parameter.ShiftSpeed;
}
else if(AGV.Public.i_FirstArrivalMaterialR&&!AGV.Public.i_FirstArrivalMaterialL&&!AGV.Public.i_FirstLimitL)
{
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_FirstArrivalMaterialL&&AGV.Public.i_FirstArrivalMaterialR)//左边到位右边到位停止
{
Motor1->Command.speed = 0;
AGV.Command.RollerStateFirst = 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_FirstArrivalMaterialL&&!AGV.Public.i_FirstArrivalMaterialR&&!AGV.Public.i_FirstLimitL&&!AGV.Public.i_FirstLimitR)
{
Motor1->Command.speed = 0;
AGV.Command.RollerStateFirst = 0;
}
break;
case 2://右边进框（左转）
Motor1->Command.speed = -AGV.Parameter.ShiftSpeed;
if(AGV.Public.i_FirstArrivalMaterialL&&AGV.Public.i_FirstArrivalMaterialR)//左边到位右边到位停止
{
Motor1->Command.speed = 0;
AGV.Command.RollerStateFirst = 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_FirstArrivalMaterialL&&!AGV.Public.i_FirstArrivalMaterialR&&!AGV.Public.i_FirstLimitL&&!AGV.Public.i_FirstLimitR)
{
Motor1->Command.speed = 0;
AGV.Command.RollerStateFirst = 0;
}
break;
}
}
void CheckMaterialState()//物料检测
{
//上层物料检测
if(AGV.Public.i_SecondArrivalMaterialL&&AGV.Public.i_SecondArrivalMaterialR)
{
AGV.Public.i_MaterialFlagSecond = 1;
}
else if(!AGV.Public.i_SecondArrivalMaterialL&&!AGV.Public.i_SecondArrivalMaterialR&&!AGV.Public.i_SecondLimitL&&!AGV.Public.i_SecondLimitR)
{
AGV.Public.i_MaterialFlagSecond = 0;
}
else
AGV.Public.i_MaterialFlagSecond = 2;
//下层物料检测
if(AGV.Public.i_FirstArrivalMaterialL&&AGV.Public.i_FirstArrivalMaterialR)
{
AGV.Public.i_MaterialFlagFirst = 1;
}
else if(!AGV.Public.i_FirstArrivalMaterialL&&!AGV.Public.i_FirstArrivalMaterialR&&!AGV.Public.i_FirstLimitL&&!AGV.Public.i_FirstLimitR)
{
AGV.Public.i_MaterialFlagFirst = 0;
}
else
AGV.Public.i_MaterialFlagFirst = 2;
}
void PlatformRunHand2()//平台手动运行
{
LiftRun_Hand2(&DriverLifter1,&DriverLifter2);
ShifterRun_Hand2(&DriverShifter1,&DriverShifter2);
}
void PlatformDocking2()//平台自动对接
{
LiftRun_Auto2(&DriverLifter1,&DriverLifter2);
ShifterRun_Auto2(&DriverShifter1,&DriverShifter2);
}
void GetLiftHeight()
{
AGV.Public.i_LiftHeightFirst = AGV.Public.i_quadEncoder1;
AGV.Public.i_LiftHeightSecond = AGV.Public.i_quadEncoder2;
}
void PlatformDataProcess2()//平台数据处理
{
//下层升降下限位
if(X13)
{
TIM_SetCounter(TIM1,0);
AGV.Public.i_LiftDownLimitFirst = 1;
}
else
AGV.Public.i_LiftDownLimitFirst = 0;
//下层升降上限位
if(X14)
{
AGV.Public.i_LiftUpLimitFirst = 1;
}
else
AGV.Public.i_LiftUpLimitFirst = 0;
//上层升降下限位
if(X15)
{
TIM_SetCounter(TIM2,0);
AGV.Public.i_LiftDownLimitSecond = 1;
}
else
AGV.Public.i_LiftDownLimitSecond = 0;
//上层升降上限位
if(X16)
{
AGV.Public.i_LiftUpLimitSecond = 1;
}
else
AGV.Public.i_LiftUpLimitSecond = 0;
//下层输送物料左感应
if(X17)
{
AGV.Public.i_FirstLimitL = 1;
}
else
AGV.Public.i_FirstLimitL = 0;
//下层输送物料右感应
if(X18)
{
AGV.Public.i_FirstLimitR = 1;
}
else
AGV.Public.i_FirstLimitR = 0;
//下层物料左到位
if(X19)
{
AGV.Public.i_FirstArrivalMaterialL = 1;
}
else
AGV.Public.i_FirstArrivalMaterialL = 0;
//下层物料右到位
if(X20)
{
AGV.Public.i_FirstArrivalMaterialR = 1;
}
else
AGV.Public.i_FirstArrivalMaterialR = 0;
//上层左极限
if(X21)
{
AGV.Public.i_SecondLimitL = 1;
}
else
AGV.Public.i_SecondLimitL = 0;
//上层右极限
if(X22)
{
AGV.Public.i_SecondLimitR = 1;
}
else
AGV.Public.i_SecondLimitR = 0;
//上层物料左到位
if(X23)
{
AGV.Public.i_SecondArrivalMaterialL = 1;
}
else
AGV.Public.i_SecondArrivalMaterialL = 0;
//上层物料右到位
if(X24)
{
AGV.Public.i_SecondArrivalMaterialR = 1;
}
else
AGV.Public.i_SecondArrivalMaterialR = 0;
if(!AGV.Command.Au_Hand)
{
//横移
if (usCoilBuf[7] & 0x04)//下层皮带
{
AGV.Command.HandShiftState = 1;
}
else if (usCoilBuf[7] & 0x08)//下层皮带
{
AGV.Command.HandShiftState = 2;
}
else if (usCoilBuf[7] & 0x10)//上层皮带
{
AGV.Command.HandShiftState = 3;
}
else if (usCoilBuf[7] & 0x20)//上层皮带
{
AGV.Command.HandShiftState = 4;
}
else
AGV.Command.HandShiftState = 0;
//举升
if (usCoilBuf[7] & 0x040)//上升
{
AGV.Command.HandLiftState = 1;
}
else if (usCoilBuf[7] & 0x080)
{
AGV.Command.HandLiftState = 2;
}
else if (usCoilBuf[8] & 0x001)
{
AGV.Command.HandLiftState = 3;
}
else if (usCoilBuf[8] & 0x002)
{
AGV.Command.HandLiftState = 4;
}
else
AGV.Command.HandLiftState = 0;
}
AGV.Parameter.LiftSpeed = usRegHoldingBuf[2];//举升速度600
AGV.Parameter.ShiftSpeed = usRegHoldingBuf[3];//滚筒速度600
AGV.Public.OnlinePointSig = usRegHoldingBuf[12];//上线点位
usRegInputBuf[12] = DriverMotor2.Public.ampere;//电流
usRegInputBuf[13] = DriverMotor2.Public.voltage;//电量显示
usRegInputBuf[15] = AGV.Public.i_LiftHeightFirst;//上层举升高度
usRegInputBuf[6] = AGV.Public.i_LiftHeightSecond;//下层举升高度
CheckMaterialState();//物料检测
GetLiftHeight();
}
/*SETVMOT动作指令解析*/
void CommandActionAnalys2(int dataOne,int dataTwo)
{
switch (dataOne)
{
case 1://下层皮带
AGV.Command.RollerStateFirst = dataTwo;
break;
case 2://上层皮带
AGV.Command.RollerStateSecond = dataTwo;
break;
case 3://上层举升高度第二层
AGV.Parameter.SetLiftHightSecond = dataTwo;
break;
case 4://打开充电状态
switch (dataTwo)//小车运动方式设置 //
{
case 0:
Y9(0); //关闭充电器触点
break;
case 1: //自动充电站停靠传感器选型 充电预停车指令
Y9(1);//打开充电器触点
break;
}
case 5://下层举升高度第一层
AGV.Parameter.SetLiftHightFirst = dataTwo;
}
}
#endif