Trackless.c
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#include "Trackless.h"
#if 1//P_SETUP_NAV_TYPE==2||P_SETUP_NAV_TYPE==3
//获取激光数据slam,此补偿不是将雷达位置补偿到车体中心而是工位坐标特殊补偿，每个工位的补偿值不一样，龙旗项目使用中
void laserDataUpdate() //
{
CurrentCenterPoint.TarX = agv.Public.Coordinate_X + agv.Command.X_compensation; //X补偿
CurrentCenterPoint.TarY = agv.Public.Coordinate_Y + agv.Command.Y_compensation; //Y补偿
CurrentCenterPoint.CurAngle = agv.Public.Coordinate_W + agv.Command.W_compensation; //W补偿
}
int LightArriveFlagL = 0,LightArriveFlagR = 0;
//到达判断
unsigned char ArriveJugement2()
{
static u8 lastStopFlagL = 0,lastStopFlagR = 0;
if(navi.Public.VerticalDistanceAgvToTARGET < LIGHT_STOP_SIGNAL_DIS)
{
if(agv.Command.LightStopSig == 1)//左光电停靠
{
if(agv.Public.i_LightStopFlagL == 1&&lastStopFlagL == 0)
{
LightArriveFlagL = 1;
}
if(LightArriveFlagL == 1)
{
Uart_Printf(COM1,"左光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
if(agv.Public.i_LightStopFlagL == 0 && navi.Public.VerticalDistanceAgvToTARGET < REFLECTIVE_RANGE)
{
navi.Private.FirstZeroPoint = 1;
}
if(navi.Private.FirstZeroPoint && navi.Public.VerticalDistanceAgvToTARGET > REFLECTIVE_RANGE*2)
{
Uart_Printf(COM1,"未扫到光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
}
else if(agv.Command.LightStopSig == 1)//右光电停靠
{
if(agv.Public.i_LightStopFlagR == 1&&lastStopFlagR == 0)
{
LightArriveFlagR = 1;
}
if(LightArriveFlagR == 1)
{
Uart_Printf(COM1,"右光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
}
else
{
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - POSARRIVE_RANGE)) && (navi.Public.VerticalDistanceAgvToTARGET < navi.Public.VerticalDistanceAgvToSTART))
{
Uart_Printf(COM1,"正常到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
}
lastStopFlagL = agv.Public.i_LightStopFlagL;
lastStopFlagR = agv.Public.i_LightStopFlagR;
}
return 0;
}
//更新执行站点
//计算偏移量 设置不同运动方式的pid值
u8 Anglevalue1 = 5;
void calculateOffsetValue2(unsigned char Direction)
{
switch (Direction)
{
case 0:
break;
case 1: //前进
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 = -CalCoordinateDis(CurrentCenterPoint, StartPoint, TargetPoint); //车中心横向偏移量
if(fabs(navi.Public.CenterOffset) > 15)
Anglevalue1 = 5;
else
Anglevalue1 = 3;
//根据车身角度偏差设置舵轮差速补偿系数
if(navi.Public.AngleDifference > 0.017)//左偏
{
TongyiStruct1.compensationCoefficient = 1.1;
TongyiStruct3.compensationCoefficient = 0.9;
}
else if(navi.Public.AngleDifference < -0.017)
{
TongyiStruct1.compensationCoefficient = 0.9;
TongyiStruct3.compensationCoefficient = 1.1;
}
else
{
TongyiStruct1.compensationCoefficient = 1;
TongyiStruct3.compensationCoefficient = 1;
}
//根据车体位置偏差设置舵轮打舵角度
if(navi.Public.CenterOffset > 3)//左偏，右打舵
{
TongyiStruct2.angleNum = Anglevalue1;
TongyiStruct4.angleNum = Anglevalue1;
}
else if(navi.Public.CenterOffset <-3)
{
TongyiStruct2.angleNum = -Anglevalue1;
TongyiStruct4.angleNum = -Anglevalue1;
}
else
{
TongyiStruct2.angleNum = 0;
TongyiStruct4.angleNum = 0;
}
break;
case 2: //后退
navi.Private.TarAngle = CalculatingDirectionAngle(StartPoint, TargetPoint); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = CalCoordinateDis(CurrentCenterPoint, StartPoint, TargetPoint); //车中心横向偏移量
if(fabs(navi.Public.CenterOffset) > 15)
Anglevalue1 = 5;
else
Anglevalue1 = 3;
if(navi.Public.AngleDifference > 0.017)//左偏
{
TongyiStruct1.compensationCoefficient = 0.9;
TongyiStruct3.compensationCoefficient = 1.1;
}
else if(navi.Public.AngleDifference < -0.017)
{
TongyiStruct1.compensationCoefficient = 1.1;
TongyiStruct3.compensationCoefficient = 0.9;
}
else
{
TongyiStruct1.compensationCoefficient = 1;
TongyiStruct3.compensationCoefficient = 1;
}
//根据车体位置偏差设置舵轮打舵角度
if(navi.Public.CenterOffset > 3)//左偏，右打舵
{
TongyiStruct2.angleNum = -Anglevalue1;
TongyiStruct4.angleNum = -Anglevalue1;
}
else if(navi.Public.CenterOffset <-3)
{
TongyiStruct2.angleNum = Anglevalue1;
TongyiStruct4.angleNum = Anglevalue1;
}
else
{
TongyiStruct2.angleNum = 0;
TongyiStruct4.angleNum = 0;
}
break;
case 3:
break;
case 4:
break;
case 5:
break;
case 6:
break;
case 7: //前进左转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 8: //前进右转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 9: //后退左转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
case 10: //后退右转
navi.Private.TarAngle = CalculatingDirectionAngle(PointThree, PointFour); //求出目标方向角度
navi.Public.AngleDifference = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle); //角度偏移
navi.Public.CenterOffset = TwoPointDistance(CurrentCenterPoint, CircleCenterPoint) - navi.Private.SetCalculationRadius; //车中心横向偏移量
pid = navi.PIDPara[2];
break;
default:
break;
}
}
void slamNavigation()
{
laserDataUpdate(); //获取激光数据，以及特殊工位定点补偿**************
calculateOffsetValue2(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(); //计算起始点、目标点、agv之前的距离
}
#endif