HardDifferential.c
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#if P_SETUP_CHASSIS_MODE == 0
#include "HardDifferential.h"
//点动
extern int RecodeHandTime;
extern void AGVRunStateStopHand(int Time);
float arriveAngle = 0.015;
void chassisControlManual(void)
{
static float curAngle1 = 0,curAngle2 = 0;
switch (agv.Command.HandMotorState)
{
case 0x00:
TongyiStruct1.setSpeed = 0;
TongyiStruct3.setSpeed = 0;
TongyiStruct2.setSpeed = 5000;
TongyiStruct4.setSpeed = 5000;
break;
case 0x01: //前进
TongyiStruct1.setSpeed = agv.Parameter.HandSpeed;
TongyiStruct3.setSpeed = agv.Parameter.HandSpeed;
break;
case 0x02: //后退
TongyiStruct1.setSpeed = -agv.Parameter.HandSpeed;
TongyiStruct3.setSpeed = -agv.Parameter.HandSpeed;
break;
case 0x03: //左转
TongyiStruct2.angleNum = 90;
TongyiStruct4.angleNum = 90;
break;
case 0x04: //右转
TongyiStruct2.angleNum = 0;
TongyiStruct4.angleNum = 0;
break;
case 0x05: //
TongyiStruct2.angleNum = 56;//TongyiStruct2.encodeAngleNum-5;//角度一直比当前角度加5度，不超过限制
TongyiStruct4.angleNum = 56;
break;
case 0x06: //左旋转
TongyiStruct1.setSpeed = 100;
TongyiStruct3.setSpeed = -100;
break;
case 0x07: //右旋转
TongyiStruct1.setSpeed = -100;
TongyiStruct3.setSpeed = 100;
break;
default:
break;
}
setMotorSpeedSlope(agv.Parameter.HandSpeedSlope);
}
void chassisControlAutoSlamPPC()
{
static float SpeedDifValue = 0;//根据转弯半径大小，计算固定速度差值
//根据转弯半径大小，计算固定速度差值
static int i = 0;
if(navi.Private.SetCalculationRadius != 0)
SpeedDifValue = P_SETUP_WHEEL_Y_DIS * ((float)agv.Command.SetBaseSpeed) / (navi.Private.SetCalculationRadius) / 2;
else
SpeedDifValue = 0;
if(i++ > 10)
{
i = 0;
Uart_Printf(COM1,"转弯半径 = %.2f 速度差 = %.2f\r\n",navi.Private.SetCalculationRadius,SpeedDifValue);
}
switch (agv.Command.CurDirection)
{
case 0:
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
break;
case 1:
if (agv.Command.SetBaseSpeed == 0)
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
else
{
KincoStruct1.setSpeed = agv.Command.SetBaseSpeed + SpeedDifValue; //设定速度加补偿值
KincoStruct2.setSpeed = agv.Command.SetBaseSpeed - SpeedDifValue; //设定速度减补偿值
}
break;
case 2:
if (agv.Command.SetBaseSpeed == 0)
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
else
{
KincoStruct1.setSpeed = -(agv.Command.SetBaseSpeed);// - navi.Private.OutputOffset); //设定速度加补偿值，后退要给负速度
KincoStruct2.setSpeed = -(agv.Command.SetBaseSpeed);// + navi.Private.OutputOffset); //设定速度减补偿值，后退要给负速度
}
break;
case 3:
KincoStruct1.setSpeed = -agv.Command.SetBaseSpeed; //前进原地左转，左轮给负速度，以当前行进方向分左右
KincoStruct2.setSpeed = agv.Command.SetBaseSpeed; //前进原地左转，右轮给正速度，以当前行进方向分左右
break;
case 4:
KincoStruct1.setSpeed = agv.Command.SetBaseSpeed; //前进原地右转，左轮给正速度，以当前行进方向分左右
KincoStruct2.setSpeed = -agv.Command.SetBaseSpeed; //前进原地右转，右轮给负速度，以当前行进方向分左右
break;
default:
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
break;
}
}
void chassisControlAuto(void)
{
switch (agv.Command.CurDirection)
{
case 0:
TongyiStruct1.setSpeed = 0;
TongyiStruct3.setSpeed = 0;
TongyiStruct2.setSpeed = 5000;
TongyiStruct4.setSpeed = 5000;
break;
case 1:
if (agv.Command.SetBaseSpeed == 0)
{
TongyiStruct1.setSpeed = 0;
TongyiStruct3.setSpeed = 0;
}
else
{
TongyiStruct1.setSpeed = agv.Command.SetBaseSpeed*TongyiStruct1.compensationCoefficient; //设定速度加补偿值
TongyiStruct3.setSpeed = agv.Command.SetBaseSpeed*TongyiStruct3.compensationCoefficient; //设定速度减补偿值
}
break;
case 2:
if (agv.Command.SetBaseSpeed == 0)
{
TongyiStruct1.setSpeed = 0;
TongyiStruct3.setSpeed = 0;
}
else
{
TongyiStruct1.setSpeed = -(agv.Command.SetBaseSpeed*TongyiStruct1.compensationCoefficient);// - navi.Private.OutputOffset); //设定速度加补偿值，后退要给负速度
TongyiStruct3.setSpeed = -(agv.Command.SetBaseSpeed*TongyiStruct3.compensationCoefficient);// + navi.Private.OutputOffset); //设定速度减补偿值，后退要给负速度
}
break;
case 3:
TongyiStruct1.setSpeed = -agv.Command.SetBaseSpeed; //前进原地左转，左轮给负速度，以当前行进方向分左右
TongyiStruct3.setSpeed = agv.Command.SetBaseSpeed; //前进原地左转，右轮给正速度，以当前行进方向分左右
break;
case 4:
TongyiStruct1.setSpeed = agv.Command.SetBaseSpeed; //前进原地右转，左轮给正速度，以当前行进方向分左右
TongyiStruct3.setSpeed = -agv.Command.SetBaseSpeed; //前进原地右转，右轮给负速度，以当前行进方向分左右
break;
case 5:
TongyiStruct1.setSpeed = -agv.Command.SetBaseSpeed; //后退原地左转，左轮给正速度，以当前行进方向分左右
TongyiStruct3.setSpeed = agv.Command.SetBaseSpeed; //后退原地左转，右轮给负速度，以当前行进方向分左右
break;
case 6:
TongyiStruct1.setSpeed = agv.Command.SetBaseSpeed; //后退原地右转，左轮给负速度，以当前行进方向分左右
TongyiStruct3.setSpeed = -agv.Command.SetBaseSpeed; //后退原地右转，右轮给正速度，以当前行进方向分左右
break;
default:
TongyiStruct1.setSpeed = 0;
TongyiStruct3.setSpeed = 0;
break;
}
}
//硬差速直行
void HardDifferentialSpeedStraight()
{
float DIS = TwoPointDistance(StartPoint, TargetPoint);
if(DIS > 10000)
navi.Public.DistanceAgvToTARGET = DIS - fabs(navi.Public.DistanceAgvToSTART);
else
navi.Public.DistanceAgvToTARGET = DIS - fabs(navi.Public.DistanceAgvToSTART);
if (agv.Command.CurDirection == agv.Command.NextDirection) //如果当前方向和下次方向相同
{
agv.Command.SetBaseSpeed = agv.Command.DispatchSpeed; //设定速度为系统下发速度
} //如果记下来是弧线转弯，做减速处理
else if (agv.Command.NextDirection == 7 || agv.Command.NextDirection == 8 || agv.Command.NextDirection == 9 || agv.Command.NextDirection == 10)
{
if (navi.Public.DistanceAgvToTARGET >= agv.Parameter.AdvanceParkPos) //agv到终点距离大于预停车距离
{
agv.Command.SetBaseSpeed = agv.Command.DispatchSpeed; //按系统下发速度走
}
else //agv到终点距离小于预停车距离，减速到设定自动转弯速度
{
agv.Command.SetBaseSpeed = mapping(navi.Public.DistanceAgvToTARGET, 0, agv.Parameter.AdvanceParkPos, agv.Command.NextDispatchSpeed, agv.Command.DispatchSpeed);
}
}
else //停车或者原地转
{
if (navi.Public.DistanceAgvToTARGET >= agv.Parameter.AdvanceParkPos) //如果agv到目标点距离大于预停车距离
{
agv.Command.SetBaseSpeed = agv.Command.DispatchSpeed; //设定速度等于系统下发速度
}
else if (navi.Public.DistanceAgvToTARGET <= agv.Parameter.AdvanceParkPos && navi.Public.DistanceAgvToTARGET > LIGHT_STOP_SIGNAL_DIS ) //小于预停车距离,大于到点判断范围10MM，驱动器不能给太小速度，不能直接到0，设置了预停车速度
{
agv.Command.SetBaseSpeed = mapping(navi.Public.DistanceAgvToTARGET, LIGHT_STOP_SIGNAL_DIS, agv.Parameter.AdvanceParkPos, agv.Parameter.AdvanceParkSpeed, agv.Command.DispatchSpeed);
}
else
agv.Command.SetBaseSpeed = agv.Parameter.AdvanceParkSpeed;
}
if (navi.Public.DistanceAgvToSTART < START_SPEEDUP_RANGE)
{
agv.Command.SetBaseSpeed = 100;
// if (fabs(TongyiStruct1.encodeSpeed - TongyiStruct3.encodeSpeed) > START_SPEEDDIFF_LIMIT) //速度差太大
// {
// agv.Command.SetBaseSpeed = fabs(TongyiStruct1.encodeSpeed + TongyiStruct3.encodeSpeed) / 2;
// }
// setMotorSpeedSlope(0.3);
}
// else
// setMotorSpeedSlope(1.5);
if(Rotate1.setSpeed != 0)
{
agv.Command.SetBaseSpeed = 0;
}
}
//硬差速弧线转弯
void HardDifferentialSpeedRunTurnning()
{
if (fabs(navi.Public.AngleDifference) >= ADVANCE_STOPSLOPE_ANGLE) //如果agv角度差大于预停车角度差
{
agv.Command.SetBaseSpeed = agv.Command.DispatchSpeed;
setMotorSpeedSlope(0.5);
}
else //如果agv角度差小于预停车角度差，开始减速至设定出弯速度
{
agv.Command.SetBaseSpeed = mapping(fabs(navi.Public.AngleDifference), 0, ADVANCE_STOPSLOPE_ANGLE, ARC_TURNSPEED_MIN, agv.Command.DispatchSpeed);
setMotorSpeedSlope(0.2);
}
}
u8 TurnStep = 0;
//硬差速原地转弯
void HardDifferentialSpeedPirouette()
{
static float agvInAngle = 0,turnAngleDiff = 0,lastAngleDiff = 0;
static u8 TurnArriveFlag = 0,turnState = 0;
static int lastTime = 0;
if (TurnStep == 0) //求出位置信息
{
navi.Private.TarAngle = CalculatingDirectionAngle(StartPoint, TargetPoint); //求出目标方向角度
agv.Command.SetBaseSpeed = 0;
TurnArriveFlag = 0;
if(fabs(TongyiStruct1.encodeSpeed) < 5 && fabs(TongyiStruct3.encodeSpeed) < 5)
{
agv.Command.SetPlatformTurnAngle = fabs(CalculatingCurrentAndTargetAngle(Camera.angle, navi.Private.TarAngle))*57.3;
if(agv.Command.SetPlatformTurnAngle > 70 && agv.Command.SetPlatformTurnAngle < 110)
{
agv.Command.SetPlatformTurnAngle = 90;
}
else if(agv.Command.SetPlatformTurnAngle > 160)
{
agv.Command.SetPlatformTurnAngle = 180;
}
else
agv.Command.SetPlatformTurnAngle = 0;
TongyiStruct2.angleNum = 55.814;
TongyiStruct4.angleNum = 55.814;
if((fabs)(TongyiStruct2.encodeAngleNum - TongyiStruct2.angleNum) <= 1)
{
TurnStep = 1;
turnState = 1;
}
}
}
else if (TurnStep == 1) //开始转弯
{
if (agv.Command.CurDirection == 3 || agv.Command.CurDirection == 4) //前进左右转
{
turnAngleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle);
agvInAngle = fabs(CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, navi.Private.TarAngle));
}
else //后退左右转
{
turnAngleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle);
agvInAngle = fabs(CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI, navi.Private.TarAngle));
}
if (agvInAngle >= PI * 2)
agvInAngle -= PI * 2;
if(turnState)
{
if (agvInAngle >= ADVANCE_STOPSLOPE_ANGLE)
{
agv.Command.SetBaseSpeed = agv.Parameter.HandTurnSpeed;
}
else if ((agvInAngle < ADVANCE_STOPSLOPE_ANGLE) && (agvInAngle > TURNINGOFF_ANGLE))
{
agv.Command.SetBaseSpeed = (int)mapping(agvInAngle, TURNINGOFF_ANGLE, ADVANCE_STOPSLOPE_ANGLE, TURNSPEED_MIN, agv.Parameter.HandTurnSpeed);
}
// if (agvInAngle > TURNINGOFF_ANGLE)
// {
// agv.Command.SetBaseSpeed = agv.Parameter.HandTurnSpeed;
// }
else if ((agvInAngle <= TURNINGOFF_ANGLE))//||(turnAngleDiff*lastAngleDiff < 0))
{
turnState = 0;
}
}
else
{
agv.Command.SetBaseSpeed = 0;
TongyiStruct2.angleNum = 0;
TongyiStruct4.angleNum = 0;
if(fabs(TongyiStruct1.encodeSpeed) < 5 && fabs(TongyiStruct3.encodeSpeed) < 5)
{
if((fabs)(TongyiStruct2.encodeAngleNum - TongyiStruct2.angleNum) <= 1)
TurnArriveFlag = 1;
}
}
lastAngleDiff = turnAngleDiff;
//出弯
if (TurnArriveFlag == 1)
{
//出弯
lastAngleDiff = 0;
agv.Command.SetBaseSpeed = 0;
if (fabs(TongyiStruct1.encodeSpeed) < 5 && fabs(TongyiStruct3.encodeSpeed) < 5 )
{
if (agv.Public.SystemTime - lastTime > 1500)
{
if (agv.Command.CurDirection == 3 || agv.Command.CurDirection == 4)
{
traffic_land_marks.land_marks[agv.Command.standSiteID - 1].Direction = 1;
TurnStep = 0;
}
else if (agv.Command.CurDirection == 5 || agv.Command.CurDirection == 6)
{
traffic_land_marks.land_marks[agv.Command.standSiteID - 1].Direction = 2;
TurnStep = 0;
}
}
}
}
else
lastTime = agv.Public.SystemTime;
}
setMotorSpeedSlope(1.5);
}
//无轨硬差速模型运动控制
void chassisGetAutoSpeed(u8 *CurrentDir)
{
static u8 StopoverFlag = 1;
if (*CurrentDir == 1 || *CurrentDir == 2) //直行
{
HardDifferentialSpeedStraight(); //硬差速直行
}
else if (*CurrentDir == 3 || *CurrentDir == 4 || *CurrentDir == 5 || *CurrentDir == 6) //原地旋转
{
HardDifferentialSpeedPirouette(); //硬差速原地旋转
}
else if (*CurrentDir == 7 || *CurrentDir == 8 || *CurrentDir == 9 || *CurrentDir == 10) //弧线转弯
{
HardDifferentialSpeedRunTurnning(); //弧线转弯
}
else if(*CurrentDir == 11 || *CurrentDir == 12)//停车
{
if(StopoverFlag)
SetAlarm(0x0004);
}
}
#endif