MovableLifterArm.c
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#include "MovableLifterArm.h"
#if P_SETUP_PLATFORM_TYPE == 1
//参数初始化
void initPlaformParam(void)
{
Y9(0); // 关闭agv自动充电触点
Y10(0); //默认伸出挡块
Y11(1); //供电
// Y12(1);//打开光圈
agv.Command.standSiteID = 1;
agv.Command.Au_Hand = 1;
agv.Public.i_UpdatePathSig = 1;
DriverMotor1.Command.speedSlope = 1;
DriverMotor2.Command.speedSlope = 1;
DriverLifter1.Command.speedSlope = 3;
DriverShifter1.Command.speedSlope = 3;
DriverPusher1.Command.speedSlope = 3;
agv.Parameter.SetLift1Height = -290;
agv.Parameter.TargerPusherPos = -95;
#if P_SETUP_SINGLE_PLAYER == 0 //不开启单机测试
SetAlarm(0x0040);
#endif
}
void lifterRunManu(DriverStruct *Motor)
{
if (agv.Command.HandLiftState == 1)
{
Motor->Command.speed = agv.Parameter.LiftSpeed;
}
else if (agv.Command.HandLiftState == 2)
{
Motor->Command.speed = -agv.Parameter.LiftSpeed;
}
else
{
Motor->Command.speed = 0;
}
if ((Motor->Public.encoderPose < LIFTMIN && Motor->Command.speed < 0) || (Motor->Public.encoderPose > LIFTMAX && Motor->Command.speed > 0))
{
Motor->Command.speed = 0;
}
}
void lifterRunAuto(DriverStruct *Motor, float LiftOffsetBias) //3750 -4500
{
if (LiftOffsetBias > QR_BIAS_MIN)
{
if (LiftOffsetBias >= 0.1)
{
Motor->Command.speed = -agv.Parameter.LiftSpeed;
}
else
{
Motor->Command.speed = mapping(LiftOffsetBias, 0, 0.1, -200, -(float)agv.Parameter.LiftSpeed);
}
}
else if (LiftOffsetBias < -QR_BIAS_MIN)
{
if (LiftOffsetBias <= -0.1)
{
Motor->Command.speed = agv.Parameter.LiftSpeed;
}
else
{
Motor->Command.speed = mapping(LiftOffsetBias, 0, -0.1, 200, (float)agv.Parameter.LiftSpeed);
}
}
else
Motor->Command.speed = 0;
if ((Motor->Public.encoderPose < LIFTMIN && Motor->Command.speed < 0) || (Motor->Public.encoderPose > LIFTMAX && Motor->Command.speed > 0))
{
Motor->Command.speed = 0;
}
}
void shifterRunManu(DriverStruct *Motor)
{
if (agv.Command.HandShiftState == 1)
{
Motor->Command.speed = agv.Parameter.ShiftSpeed;
}
else if (agv.Command.HandShiftState == 2)
{
Motor->Command.speed = -agv.Parameter.ShiftSpeed;
}
else
{
Motor->Command.speed = 0;
}
if ((Motor->Public.encoderPose < SHIFTMIN && Motor->Command.speed < 0) || (Motor->Public.encoderPose > SHIFTMAX && Motor->Command.speed > 0))
{
Motor->Command.speed = 0;
}
}
void shifterRunAuto(DriverStruct *Motor, float ShiftOffetBias) // 1850 -750
{
if (ShiftOffetBias > QR_BIAS_MIN)
{
if (ShiftOffetBias >= 0.1)
{
Motor->Command.speed = -agv.Parameter.ShiftSpeed;
}
else
{
Motor->Command.speed = mapping(ShiftOffetBias, 0, 0.1, -400, -(float)agv.Parameter.ShiftSpeed);
}
}
else if (ShiftOffetBias < -QR_BIAS_MIN)
{
if (ShiftOffetBias <= -0.1)
{
Motor->Command.speed = agv.Parameter.ShiftSpeed;
}
else
{
Motor->Command.speed = mapping(ShiftOffetBias, 0, -0.1, 400, (float)agv.Parameter.ShiftSpeed);
}
}
else
Motor->Command.speed = 0;
if ((Motor->Public.encoderPose < SHIFTMIN && Motor->Command.speed < 0) || (Motor->Public.encoderPose > SHIFTMAX && Motor->Command.speed > 0))
{
Motor->Command.speed = 0;
}
}
void pusherRunManu(DriverStruct *Motor)
{
if (agv.Command.HandPushState == 1)
{
Motor->Command.speed = agv.Parameter.PushSpeed;
}
else if (agv.Command.HandPushState == 2)
{
Motor->Command.speed = -agv.Parameter.PushSpeed;
}
else
{
Motor->Command.speed = 0;
}
if ((Motor->Public.encoderPose > agv.Parameter.LimitPusherPos && Motor->Command.speed > 0) || (agv.Public.i_Push1_Origain && Motor->Command.speed < 0))
{
Motor->Command.speed = 0;
}
}
void pusherRunAuto(DriverStruct *Motor) // -1200 4000
{
if (abs(Motor->Public.encoderPose - agv.Parameter.TargerPusherPos) < 5)
{
Motor->Command.speed = 0;
}
else if (Motor->Public.encoderPose - agv.Parameter.TargerPusherPos < 0) //实际位置减目标位置
{
Motor->Command.speed = agv.Parameter.PushSpeed;
}
else if (Motor->Public.encoderPose - agv.Parameter.TargerPusherPos > 0)
{
Motor->Command.speed = -agv.Parameter.PushSpeed;
}
//安全限制，不能超出范围
if ((Motor->Public.encoderPose > agv.Parameter.LimitPusherPos && Motor->Command.speed > 0) || (agv.Public.i_Push1_Origain && Motor->Command.speed < 0)) //761
{
Motor->Command.speed = 0;
}
}
void returnZeroPoint(int TargetHight) //悬臂轴回原点
{
//平移
if (DriverShifter1.Public.encoderPose < 19 && !agv.Public.i_Shift1_Origin) //实际位置减目标位置
{
DriverShifter1.Command.speed = agv.Parameter.ShiftSpeed;
}
else if (DriverShifter1.Public.encoderPose > 19 && !agv.Public.i_Shift1_Origin)
{
DriverShifter1.Command.speed = -agv.Parameter.ShiftSpeed;
}
else
DriverShifter1.Command.speed = 0;
if ((DriverShifter1.Public.encoderPose < -47 && DriverShifter1.Command.speed < 0) || (DriverShifter1.Public.encoderPose > 52 && DriverShifter1.Command.speed > 0))
{
DriverShifter1.Command.speed = 0;
}
//举升
if (abs(DriverLifter1.Public.encoderPose - TargetHight) < 5) //达到目标位置
{
DriverLifter1.Command.speed = 0;
}
else if (DriverLifter1.Public.encoderPose - TargetHight < 0) //实际位置减目标位置，小于不止5
{
DriverLifter1.Command.speed = agv.Parameter.LiftSpeed;
}
else if (DriverLifter1.Public.encoderPose - TargetHight > 0)
{
DriverLifter1.Command.speed = -agv.Parameter.LiftSpeed;
}
if ((DriverLifter1.Public.encoderPose < LIFTMIN && DriverLifter1.Command.speed < 0) || (DriverLifter1.Public.encoderPose > LIFTMAX && DriverLifter1.Command.speed > 0))
{
DriverLifter1.Command.speed = 0;
}
}
void platformControlManual() //悬臂轴点动控制
{
lifterRunManu(&DriverLifter1); //点动举升
shifterRunManu(&DriverShifter1); //点动移轴
pusherRunManu(&DriverPusher1); //点动推杆
}
extern int QRDataFlag;
void platformControlAuto() //悬臂轴自动对接处理
{
static int LastTime = 0, LastTime2 = 0;
static u8 LastQRDataFlag = 0;
if (agv.Command.LightStopSig == 1) //光电停车对接信号
{
if (LastQRDataFlag == 0 && QRDataFlag == 1)
{
agv.Public.i_QRCodeOKFlag = 1;
}
LastQRDataFlag = QRDataFlag;
Y12(1); //打开光圈
allDriverEnable = true; //如果开启光电对接，不关使能
lifterRunAuto(&DriverLifter1, agv.Public.QR_YbiasFromros); //根据二维码反馈偏移值，举升自动纠偏,
shifterRunAuto(&DriverShifter1, agv.Public.QR_XbiasFromros); //根据二维码反馈偏移值，移轴自动纠偏
//自动对接未扫到二维码,距离终点300MM停车，延时1S
if (navi.Public.VerticalDistanceAgvToTARGET < 100 && agv.Public.i_QRCodeOKFlag == 0)
{
if (agv.Public.SystemTime - LastTime > 1000)
{
agv.Command.SetBaseSpeed = 0;
agv.Command.SetBaseSpeed = 0;
// LED_color(LED_yellow, 0);//黄灯常亮
}
}
else
LastTime = agv.Public.SystemTime;
//距离对接工位10CM以内，上下左右偏差大于10MM,或者车身角度偏差太大 停车
if (navi.Public.VerticalDistanceAgvToTARGET < 100 && (fabs(agv.Public.QR_XbiasFromros) > 0.010 || fabs(agv.Public.QR_YbiasFromros) > 0.010 || fabs(navi.Public.AngleDifference) > 0.015))
{
agv.Command.SetBaseSpeed = 0;
agv.Command.SetBaseSpeed = 0;
// LED_color(LED_yellow, 0);//黄灯常亮
}
//极限触发，二维码偏移量过大 1，左极限触发，偏移量大于0，不能向左移 停车
// if((Driver_PINGYI_motor_first.ActualPos <= -760&&AGVStatus.QR_XbiasFromros > 0.005)
// ||(Driver_PINGYI_motor_first.ActualPos >= 1850&&AGVStatus.QR_XbiasFromros < -0.005))
// {
// agv.Command.SetBaseSpeed = 0;
//
// agv.Command.SetBaseSpeed = 0;
//
// LED_color(LED_yellow, 0);//黄灯常亮
//
// }
//对接时车身角度过大
if (fabs(navi.Public.AngleDifference) > 0.1)
{
agv.Command.SetBaseSpeed = 0;
agv.Command.SetBaseSpeed = 0;
// LED_color(LED_yellow, 0);//黄灯常亮
}
}
else //没有光电停车
{
LastQRDataFlag = 0;
agv.Public.i_QRCodeOKFlag = 0;
Y12(0); //关闭光圈//因为相机需要补光才能稳定识别二维码，所以提前开启光源
allDriverEnable = false;
//防止手自动切换路径清掉复位
if (navi.Public.VerticalDistanceAgvToSTART > 100 && agv.Public.i_UpdatePathSig == 0) //不能在原地回位，如果在对接状态会撞上
{
returnZeroPoint(agv.Parameter.SetLift1Height); //移轴举升归位
}
else //其他情况速度置0
{
DriverLifter1.Command.speed = 0;
DriverShifter1.Command.speed = 0;
}
}
pusherRunAuto(&DriverPusher1); //推杆对接
}
void platformDataProcess()
{
//升降下限位
if (X13)
{
agv.Public.i_Lift1DownLimit = 1;
}
else
agv.Public.i_Lift1DownLimit = 0;
//升降上限位
if (X14)
{
agv.Public.i_Lift1UpLimit = 1;
}
else
agv.Public.i_Lift1UpLimit = 0;
//物料检测
if (X15)
{
agv.Public.i_MaterialTesting = 1;
}
else
agv.Public.i_MaterialTesting = 0;
//物料到位
if (X16)
{
agv.Public.i_MaterialOKFlag = 1;
}
else
agv.Public.i_MaterialOKFlag = 0;
//平移左限位
if (X17)
{
agv.Public.i_Shift1_LimitLeft = 1;
}
else
agv.Public.i_Shift1_LimitLeft = 0;
//平移原点
if (X18)
{
agv.Public.i_Shift1_Origin = 1;
}
else
agv.Public.i_Shift1_Origin = 0;
//平移右限位
if (X19)
{
agv.Public.i_Shift1_LimitRight = 1;
}
else
agv.Public.i_Shift1_LimitRight = 0;
//推杆原点
if (X20)
{
agv.Public.i_Push1_Origain = 1;
}
else
agv.Public.i_Push1_Origain = 0;
//推杆极限
if (X21)
{
agv.Public.i_Push1_Limit = 1;
}
else
agv.Public.i_Push1_Limit = 0;
if (!agv.Command.Au_Hand)
{
//横移
if (usCoilBuf[6] & 0x01) //上升
{
agv.Command.HandShiftState = 1;
}
else if (usCoilBuf[6] & 0x02)
{
agv.Command.HandShiftState = 2;
}
else
agv.Command.HandShiftState = 0;
//举升
if (usCoilBuf[6] & 0x04) //上升
{
agv.Command.HandLiftState = 1;
}
else if (usCoilBuf[6] & 0x08)
{
agv.Command.HandLiftState = 2;
}
else
agv.Command.HandLiftState = 0;
//推杆
if (usCoilBuf[8] & 0x01)
{
agv.Command.HandPushState = 1;
}
else if (usCoilBuf[8] & 0x02)
{
agv.Command.HandPushState = 2;
}
else
{
agv.Command.HandPushState = 0;
}
//阻挡块
if (usCoilBuf[9] & 0x08) //弹出
{
Y10(0);
}
if (usCoilBuf[9] & 0x10) //缩回
{
Y10(1);
}
agv.Public.QR_Compensation_X = (float)usRegHoldingBuf[31] / 1000.0f; //
agv.Public.QR_Compensation_Y = (float)usRegHoldingBuf[32] / 1000.0f; //
agv.Parameter.ShiftSpeed = usRegHoldingBuf[11]; //横移速度600
agv.Parameter.LiftSpeed = usRegHoldingBuf[12]; //举升速度600
agv.Parameter.PushSpeed = usRegHoldingBuf[39]; //推杆速度1200
agv.Parameter.LimitPusherPos = usRegHoldingBuf[14]; //3700
usRegInputBuf[6] = DriverLifter1.Public.encoderPose; //上层举升高度
usRegInputBuf[7] = DriverShifter1.Public.encoderPose;
usRegInputBuf[8] = DriverPusher1.Public.encoderPose;
usRegInputBuf[13] = CanBatteryStruct.TotalVoltage; //电量显示
}
}
/*SETVMOT动作指令解析*/
void commandActionAnalysis(int dataOne, int dataTwo)
{
switch (dataOne)
{
case 1: //升降
agv.Parameter.SetLift1Height = dataTwo;
break;
case 2: //推杆
agv.Parameter.TargerPusherPos = dataTwo;
break;
case 3: //阻挡块伸缩
switch (dataTwo) //小车运动方式设置 //
{
case 1:
Y10(0); //伸出
break;
case 2:
Y10(1); //缩回
break;
}
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;
}
}
}
#endif