Paramater.c
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#include "Paramater.h"
AGVStruct agv;
navigationPID pid;
navigationStruct navi;
/*定义用于计算的点
StartPoint TargetPoint直线运行当前点（起点）和下一个点（目标点）
CurrentCenterPoint agv运动中心实时坐标
PointOne,PointTwo,PointThree,PointFour弧线转弯用的四个点，上一个点，当前点，下一个点，下两个点
A,B为单机测试时，放置屏幕可以调整的坐标
*/
CoordinatePoints StartPoint, TargetPoint, CurrentCenterPoint, PointOne, PointTwo, PointThree, PointFour, CircleCenterPoint,FrontViewPoint;
void initPidData()
{
navi.PIDPara[0].Kp = 0.5;//高速
navi.PIDPara[0].Ki = 0;
navi.PIDPara[0].Kd = 0;
navi.PIDPara[0].PosCofficient = 1;
navi.PIDPara[0].AngleCofficient = 12;
navi.PIDPara[0].MaxLimit = 40;
navi.PIDPara[1].Kp = 0.5;//低速
navi.PIDPara[1].Ki = 0;
navi.PIDPara[1].Kd = 0;
navi.PIDPara[1].PosCofficient = 1;
navi.PIDPara[1].AngleCofficient =10;
navi.PIDPara[1].MaxLimit = 40;
navi.PIDPara[2].Kp = 0.5;
navi.PIDPara[2].Ki = 0;
navi.PIDPara[2].Kd = 0;
navi.PIDPara[2].PosCofficient = 1;
navi.PIDPara[2].AngleCofficient = 15;
navi.PIDPara[2].MaxLimit = 40;
navi.PIDPara[3].Kp = 0.35;
navi.PIDPara[3].Ki = 0;
navi.PIDPara[3].Kd = 0;
navi.PIDPara[3].PosCofficient = 0;
navi.PIDPara[3].AngleCofficient = 15;
navi.PIDPara[3].MaxLimit = 40;
}
void initAgvData()
{
Uart_Printf(COM1, "参数初始化\r\n");
agv.Command.standSiteID = 1;
agv.Command.Au_Hand = 1;
agv.Public.i_StartSig = 0;
agv.Public.i_StopSig = 0;
agv.Public.i_UpdatePathSig = 1;
agv.Command.CurDirection = 0;
Lifter1.initState = 0;
Rotate1.initState = 0;
agv.Parameter.HandSpeed = 300;//手动速度 你看调多少 按比例
agv.Parameter.HandTurnSpeed = 100;
agv.Parameter.HandSpeedSlope = 1;
agv.Parameter.AutoSpeedSlope = 5;
agv.Command.LaserState = 0;
agv.Parameter.AdvanceParkPos = 1500;//预停车距离100
agv.Parameter.AdvanceParkSpeed = 100;//预停车速度20
agv.Parameter.OnlyAnglePos = 500;//只纠偏角度距离
agv.Parameter.LiftSpeed = 10000; //举升速度600
agv.Command.Barrier_ONOFF = 1;
agv.Command.Vol = 31;
agv.Command.Music_ONOFF = 1;
agv.Command.LaserArea = 0;
agv.Parameter.AGVID = 0xA001;
if(agv.Parameter.AGVID == 0xA006 )
{
agv.Parameter.anglecompensation = 3;
agv.Parameter.platcompensation = 2;
}
else if(agv.Parameter.AGVID == 0xA004)
{
agv.Parameter.anglecompensation = 1.5;
}
else if(agv.Parameter.AGVID == 0xA001)
{
agv.Parameter.anglecompensation = 2;
agv.Command.Width4 = 40;
}
else if(agv.Parameter.AGVID == 0xA002)
{
agv.Parameter.anglecompensation = 3.1;
agv.Parameter.SetLift2Height = 4;
}
else if(agv.Parameter.AGVID == 0xA003)
{
agv.Parameter.anglecompensation = 3;
agv.Parameter.platcompensation = 1;
}
else if(agv.Parameter.AGVID == 0xA005)
{
agv.Command.Width4 = 40;
}
}
void InitParamater()
{
initPidData();
initAgvData();
}
extern u8 TurnStep;
void clearPathInfomation()
{
agv.Command.standSiteID = 1; //执行点位置1复位
agv.Public.i_UpdatePathSig = 1; //路径更新标志置1复位
Reset_Alarm(0x06A8); //清除脱线,停稳，系统停车
agv.Public.i_PlatformStopFlag = 0;
agv.Public.i_QRCodeCenterStopFlag = 0;
memset(&traffic_land_marks, 0, sizeof(traffic_land_marks)); //清除所有路径信息
SetAlarm(0x0040); //手动模式下给一个系统停车报警代码，方便系统下发路径指令
navi.Public.DistanceAgvToSTART = 0;
TurnStep = 0;
}
#if P_SETUP_SINGLE_PLAYER == 1
void initPathInfo()
{
#if 1
traffic_land_marks.land_marks[0].LightStopSig = 0;//起点
traffic_land_marks.land_marks[0].pose[0] = -8400;
traffic_land_marks.land_marks[0].pose[1] = 6000;
traffic_land_marks.land_marks[0].Direction = 3;
traffic_land_marks.land_marks[0].DispatchSpeed = 500;
traffic_land_marks.land_marks[0].RunState = 0;
traffic_land_marks.land_marks[1].LightStopSig = 0;
traffic_land_marks.land_marks[1].pose[0] = -8400;
traffic_land_marks.land_marks[1].pose[1] = 1200;
traffic_land_marks.land_marks[1].Direction = 3;
traffic_land_marks.land_marks[1].DispatchSpeed = 500;
traffic_land_marks.land_marks[1].RunState = 0;
traffic_land_marks.land_marks[2].LightStopSig = 0;
traffic_land_marks.land_marks[2].pose[0] = -1200;
traffic_land_marks.land_marks[2].pose[1] = 1200;
traffic_land_marks.land_marks[2].Direction = 3;
traffic_land_marks.land_marks[2].DispatchSpeed = 500;
traffic_land_marks.land_marks[2].RunState = 0;
traffic_land_marks.land_marks[3].LightStopSig = 0;
traffic_land_marks.land_marks[3].pose[0] = -8400;
traffic_land_marks.land_marks[3].pose[1] = 1200;
traffic_land_marks.land_marks[3].Direction = 4;
traffic_land_marks.land_marks[3].DispatchSpeed = 500;
traffic_land_marks.land_marks[3].RunState = 0;
traffic_land_marks.land_marks[4].LightStopSig = 0;
traffic_land_marks.land_marks[4].pose[0] = -8400;
traffic_land_marks.land_marks[4].pose[1] = 6000;
traffic_land_marks.land_marks[4].Direction = 0;
traffic_land_marks.land_marks[4].DispatchSpeed = 0;
traffic_land_marks.land_marks[4].RunState = 0;
#endif
SetAlarm(0x0004);
traffic_land_marks.size = 5;
}
#elif P_SETUP_SINGLE_PLAYER == 0
void initPathInfo()
{
memset(&traffic_land_marks,0,sizeof(traffic_land_marks));
SetAlarm(0x0040);
}
#endif
void SendDataToHMI()
{
u8 sendbuff[100];
sendbuff[0] = 0xAA;
sendbuff[1] = 0x00;
sendbuff[2] = agv.Public.SOC;
// sendbuff[3] = 0x00;
// sendbuff[4] = 0x00;
// sendbuff[5] = 0x00;
// sendbuff[6] = 0x00;
// sendbuff[7] = 0x00;
// sendbuff[8] = 0x00;
// sendbuff[9] = 0x00;
//
// sendbuff[10] = 0x00;
sendbuff[11] = agv.Command.RunMode;//导航方式
sendbuff[12] = agv.Command.standSiteID ;//当前站点
sendbuff[13] = agv.Command.CurDirection ;//当前方向
sendbuff[14] = agv.Public.Error_Flag & 0xff;//报警代码
sendbuff[15] = (int)agv.Public.locT;//致信度
sendbuff[16] = agv.Public.OnlinePointSig;//上线点位
sendbuff[17] = agv.Public.SOC;//电量SOC
sendbuff[18] = agv.Command.LaserArea;//避障区域
sendbuff[19] = 0x00;
sendbuff[20] = 0x00;
sendbuff[21] = 0x00;
sendbuff[22] = 0x00;
sendbuff[23] = 0x00;
sendbuff[24] = 0x00;
//车号
sendbuff[25] = (agv.Parameter.AGVID >> 8) & 0xff;
sendbuff[26] = (agv.Parameter.AGVID >> 0) & 0xff;
// sendbuff[25] = 0x01;
// sendbuff[26] = 0x01;
//距离终点距离
sendbuff[27] = ((int) navi.Public.DistanceAgvToTARGET >> 8) & 0xff;
sendbuff[28] = ((int) navi.Public.DistanceAgvToTARGET >> 0) & 0xff;
//距离起点距离
sendbuff[29] = ((int) navi.Public.VerticalDistanceAgvToSTART >> 8) & 0xff;
sendbuff[30] = ((int) navi.Public.VerticalDistanceAgvToSTART ) & 0xff;
sendbuff[31] = 0x00;
sendbuff[32] = 0x00;
sendbuff[33] = 0x00;
sendbuff[34] = 0x00;
//置信度
sendbuff[35] = (int)agv.Public.locT;
sendbuff[36] = 0x00;
sendbuff[37] = 0x00;
sendbuff[38] = 0x00;
sendbuff[39] = 0x00;
//
sendbuff[40] = 0x01;
//报警代码
sendbuff[41] = agv.Public.Error_Flag >> 8 & 0xff;
sendbuff[42] = agv.Public.Error_Flag & 0xff;
sendbuff[43] = agv.Public.Error_Flag >> 24 & 0xff;
sendbuff[44] = agv.Public.Error_Flag >> 16 & 0xff;
//姿态角
tuconvert32.fValue = (agv.Public.Coordinate_W*57.3) ;
sendbuff[45] = tuconvert32.wValue[0]>> 8 & 0xff;//d800
sendbuff[46] = tuconvert32.wValue[0] & 0xff;
sendbuff[47] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[48] = tuconvert32.wValue[1] & 0xff;
//X坐标
// sendbuff[49] = ((int)agv.Public.Coordinate_X )>> 8 & 0xff;
// sendbuff[50] = ((int)agv.Public.Coordinate_X) & 0xff;
// sendbuff[51] = ((int)agv.Public.Coordinate_X )>> 24 & 0xff;
// sendbuff[52] = ((int)agv.Public.Coordinate_X )>> 16 & 0xff;
tuconvert32.fValue = agv.Public.Coordinate_X;
sendbuff[49] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[50] = tuconvert32.wValue[0] & 0xff;
sendbuff[51] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[52] = tuconvert32.wValue[1] & 0xff;
//Y坐标
tuconvert32.fValue = agv.Public.Coordinate_Y;
sendbuff[53] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[54] = tuconvert32.wValue[0] & 0xff;
sendbuff[55] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[56] = tuconvert32.wValue[1] & 0xff;
//起点X
tuconvert32.fValue = StartPoint.TarX;
sendbuff[57] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[58] = tuconvert32.wValue[0] & 0xff;
sendbuff[59] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[60] = tuconvert32.wValue[1] & 0xff;
//起点Y
tuconvert32.fValue = StartPoint.TarY;
sendbuff[61] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[62] = tuconvert32.wValue[0] & 0xff;
sendbuff[63] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[64] = tuconvert32.wValue[1] & 0xff;
//目标点X
tuconvert32.fValue = TargetPoint.TarX;
sendbuff[65] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[66] = tuconvert32.wValue[0] & 0xff;
sendbuff[67] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[68] = tuconvert32.wValue[1] & 0xff;
//目标点Y
tuconvert32.fValue = TargetPoint.TarY;
sendbuff[69] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[70] = tuconvert32.wValue[0] & 0xff;
sendbuff[71] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[72] = tuconvert32.wValue[1] & 0xff;
//偏差位置
tuconvert32.fValue = navi.Public.CenterOffset;
sendbuff[73] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[74] = tuconvert32.wValue[0] & 0xff;
sendbuff[75] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[76] = tuconvert32.wValue[1] & 0xff;
//偏差角度
tuconvert32.fValue = navi.Public.AngleDifference;
sendbuff[77] = tuconvert32.wValue[0]>> 8 & 0xff;
sendbuff[78] = tuconvert32.wValue[0] & 0xff;
sendbuff[79] = tuconvert32.wValue[1]>> 8 & 0xff;
sendbuff[80] = tuconvert32.wValue[1] & 0xff;
//相机X坐标
sendbuff[81] = Camera.XCoordingData >> 8 & 0xff;
sendbuff[82] = Camera.XCoordingData & 0xff;
sendbuff[83] = Camera.XCoordingData >> 24 & 0xff;
sendbuff[84] = Camera.XCoordingData >> 16 & 0xff;
//相机Y坐标
sendbuff[85] = Camera.YCoordingData >> 8 & 0xff;
sendbuff[86] = Camera.YCoordingData & 0xff;
sendbuff[87] = Camera.YCoordingData >> 24 & 0xff;
sendbuff[88] = Camera.YCoordingData >> 16 & 0xff;
WriteUart(COM1,sendbuff,sizeof(sendbuff));
}
u8 realbuff[150],recvbuff[200];
void ReceiDataformHMI()
{
static u8 i,j,checkdata,testFlag,len,analysFlag;
len = ReadUart(COM1,recvbuff,200);
if(len > 0)
{
for(i = 0;i < len;i++)
{
if(recvbuff[i] == 0xAA&&recvbuff[i+1] == 0xAA&&recvbuff[i+2] == 0xBB&&recvbuff[i+3] == 0xBB&&recvbuff[i+4] == 0xCC&&recvbuff[i+5] == 0xCC)
{
analysFlag = 1;
break;
}
}
if(analysFlag)//开始解析
{
for(j=0;j<99;j++)
{
realbuff[j] = recvbuff[i];
i += 1;
checkdata += realbuff[j];
}
realbuff[99] = recvbuff[i];
if(realbuff[0]==0xAA&&realbuff[99]==0xEE)//checkdata==realbuff[99])
{
// agv.Parameter.HandSpeed = realbuff[6]<<8 | realbuff[8];//点动直行速度
// agv.Parameter.HandTurnSpeed = realbuff[10]<<8 | realbuff[12];//点动转弯速度
// agv.Parameter.HandSpeedSlope = realbuff[14]<<8 | realbuff[16];//加速斜坡
// agv.Parameter.AutoSpeedSlope = realbuff[18]<<8 | realbuff[20];//减速斜坡
// realbuff[22]<<8 | realbuff[24]; //脱轨阈值
// agv.Parameter.AdvanceParkPos = realbuff[26]<<8 | realbuff[28];//预停车距离
// agv.Parameter.AdvanceParkSpeed = realbuff[30]<<8 | realbuff[32];//预停车速度
// agv.Parameter.OnlyAnglePos = realbuff[34]<<8 | realbuff[36];//只纠偏角度距离
// agv.Parameter.anglecompensation = (realbuff[38]<<8 | realbuff[40])*0.01;//相机角度补偿
// if(agv.Parameter.anglecompensation>100)
// {
// agv.Parameter.anglecompensation = 100 - agv.Parameter.anglecompensation;
// }
//
// agv.Parameter.AGVID = realbuff[46]<<8 | realbuff[48];//小车ID
//
// realbuff[15];
// realbuff[16];
// realbuff[17];
// realbuff[18];
// realbuff[19];
// realbuff[20];
// realbuff[21];
// realbuff[22];
// realbuff[23];
// realbuff[24];
// realbuff[25];
// realbuff[26];
testFlag = 1;
}
analysFlag = 0;
}
}
// if(agv.Parameter.AGVID!=0xA006)
// {
// testFlag = 1;
// }
}
#if P_SETUP_PLATFORM_TYPE == 1 //不同平台IO信号获取
#elif P_SETUP_PLATFORM_TYPE == 5
//上报Rptpose信息，参数为间隔多少毫秒上报一次
void reportRPTPose(u16 IntervalTime)
{
static int LastTime1 = 0, LastTime2 = 0, StopOKFlag = 0;
if (agv.Public.Error_Flag & 0x200)
StopOKFlag = 1;
else
StopOKFlag = 0;
if (agv.Public.SystemTime - LastTime1 >= IntervalTime)
{
LastTime1 = agv.Public.SystemTime;
//上报方向换向
Create_BodyTreaty(false, et_smtagv, sort_Send, ct_rptpos, ParameterTransform("%d_%d_%0.2f::%d::%d::%d::%d::%04x::%d::%d::%d::%d::%d::%d::%d::%d::%.1f_%.1f::%.1f_%.1f::%d_%d::%d_%d::%d_%d_%.2f::%d",
(int)agv.Public.Coordinate_X,(int)agv.Public.Coordinate_Y,agv.Public.Coordinate_W*57.3,
agv.Command.LandMarkID, //地图号
(int)agv.Command.SetBaseSpeed, //速度
agv.Command.CurDirection, //方向
agv.Command.LaserArea, //激光避障区域
agv.Public.Error_Flag,
agv.Command.Au_Hand, //手自动
traffic_land_marks.ChargingState, //充电状态
agv.Public.SOC, //电压
1, //定位状态
Lifter1.liftState, //举升状态0最低点1最高点2举升过程中
Rotate1.rotateState, //旋转状态 0旋转完成（静止）1旋转中
agv.Public.i_MaterialTesting, //物料状态 0没料 1有料
StopOKFlag, //停稳信号1停稳
StartPoint.TarX,
StartPoint.TarY,
TargetPoint.TarX,
TargetPoint.TarY,
agv.Command.standSiteID,
traffic_land_marks.size,
(int)TongyiStruct1.encodeSpeed,
(int)TongyiStruct3.encodeSpeed,
TongyiStruct2.encodeAngleNum,
TongyiStruct4.encodeAngleNum,
TongyiStruct2.angleNum,
agv.Command.Number
));
//
}
}
#endif