ForkLift.c
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#include "ForkLift.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;
agv.Public.i_UpdatePathSig = 1;
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 = 1;
LiftOffset1 = agv.Public.i_LiftHeightFirst - agv.Parameter.SetLift1Height; //前举升与目标高度差
//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 && agv.Public.i_StartFirst) //下层第一次上电归零
{
Motor1->Command.speed = -agv.Parameter.LiftSpeed;
}
//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 X_Input()
{
agv.Public.i_RadarSigFront_1 = MasterInput.IN1 = !X1;//前壁障减速1
agv.Public.i_RadarSigFront_2 = MasterInput.IN2 = !X2;//前壁障减速2
agv.Public.i_RadarSigFront_3 = MasterInput.IN3 = !X3;//前壁障减速3
agv.Public.i_RadarSigBack_1 = MasterInput.IN4 = !X4;//后壁障减速1
agv.Public.i_RadarSigBack_2 = MasterInput.IN5 = !X5;//后壁障减速2
agv.Public.i_RadarSigBack_3 = MasterInput.IN6 = !X6;//后壁障减速3
agv.Public.i_QuickStopSig = MasterInput.IN7 = !X7;// 急停 常开
agv.Public.i_BumperSig = MasterInput.IN8 = X8;//防撞条
agv.Public.i_StartSig = MasterInput.IN9 = X9;// 启动
agv.Public.i_StopSig = MasterInput.IN10 = X10;//暂停
agv.Public.i_LightStopFlagL = MasterInput.IN11 = X11;//左停靠
agv.Public.i_LightStopFlagR = MasterInput.IN12 = X12;//右停靠
agv.Public.i_Lift1UpLimit = MasterInput.IN13 = !X13;//升降1上限位
agv.Public.i_Lift1DownLimit = MasterInput.IN14 = !X14;//升降1下限位
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
}
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.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 if(agv.Command.CurDirection == 2 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10)//后退方向
{
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//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(0x0004);
}
if(agv.Public.i_StopSig)
{
SetAlarm(0x0004);//暂停
}
if(agv.Public.i_Lift1DownLimit)//拉线编码器清零
{
TIM_SetCounter(TIM1, 0);
}
//启动和暂停指示灯
if(agv.Command.Au_Hand&&(agv.Public.Error_Flag&0x0004)==0)//自动模式无异常显示启动灯
{
Y7(1);
Y8(0);
}
else
{
Y7(0);
Y8(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)
{
//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) > 100)//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
}
}
/*SETVMOT动作指令解析*/
void commandActionAnalysis(int dataOne, int dataTwo)
{
switch (dataOne)
{
case 1: //下层皮带
agv.Command.Shift1State = dataTwo;
break;
case 2: //上层皮带
agv.Command.Shift2State = dataTwo;
break;
case 3: //上层举升高度第二层
agv.Parameter.SetLift2Height = 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.SetLift1Height = dataTwo;
}
}
#endif