SingleSteering.c
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#include "SingleSteering.h"
#if P_SETUP_CHASSIS_MODE == 2
short testAngle = 0;
void chassisControlManual()//单舵轮点动
{
static int lastDir = 0;
DriverSteering1.Command.angle = testAngle;//设置舵轮角度
switch (agv.Command.HandMotorState)
{
case 0x00:
break;
case 10:
DriverSteering1.Command.speed = 0;
DriverSteering1.Command.angle = 0;
break;
case 0x02://前动力左转
DriverSteering1.Command.speed = agv.Parameter.HandSpeed;//*lastDir;
// DriverSteering1.Command.angle = usRegHoldingBuf[22];//设置舵轮角度
break;
case 0x01://前动力右转
DriverSteering1.Command.speed = agv.Parameter.HandSpeed*lastDir;
// DriverSteering1.Command.angle = -usRegHoldingBuf[22];//设置舵轮角度
break;
case 0x03://前进
DriverSteering1.Command.speed = agv.Parameter.HandSpeed;
// DriverSteering1.Command.angle = 0;
// lastDir = 1;
break;
case 0x04://后退
DriverSteering1.Command.speed = -agv.Parameter.HandSpeed;
// lastDir = -1;
// DriverSteering1.Command.angle = 0;
break;
default:
break;
}
// setMotorSpeedSlope(agv.Parameter.HandSpeedSlope);
}
//设置驱动器自动速度
float AngleDifValue;
void chassisControlAuto()
{
static int i = 0;
static float angleOffset = 0;
static float BackAngleOffset = 0;
// #if P_SETUP_NAV_TYPE == 2
if(navi.Private.OutputOffset > 0)
{
BackAngleOffset = (int)(mapping(navi.Private.OutputOffset,0,50,2,10)*10);
}
else if(navi.Private.OutputOffset < 0)
{
BackAngleOffset = (int)(mapping(navi.Private.OutputOffset,-50,0,-10,-2)*10);
}
// #endif
//根据转弯半径大小，计算打舵角度
if(agv.Command.CurDirection == 7 || agv.Command.CurDirection == 8 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10 )
{
if(navi.Private.SetCalculationRadius != 0)
{
if(navi.Private.SetCalculationRadius > RADIUSLIMIT+300)
navi.Private.SetCalculationRadius = RADIUSLIMIT+300;
if( agv.Command.CurDirection == 10)//后退
{
navi.Private.SetCalculationRadius -= (RIGHTSTEERDISTANCE + 160);
}
else if(agv.Command.CurDirection == 9)
{
navi.Private.SetCalculationRadius -= (RIGHTSTEERDISTANCE + 160);
}
else
{
navi.Private.SetCalculationRadius -= (RIGHTSTEERDISTANCE -100);
}
if(navi.Private.SetCalculationRadius < 250)
navi.Private.SetCalculationRadius = 250;
angleOffset = fabs(atan2(DISWHEELTOCENTER,(navi.Private.SetCalculationRadius)))*57.3*10;//打舵角度
}
else
angleOffset = 0;
if(i++ > 10)
{
Uart_Printf(COM1,"Turn CurPoint = %.2f %.2f CircleCenterPoint = %.2f %.2f Radius = %.2f\r\n",CurrentCenterPoint.TarX,CurrentCenterPoint.TarY,CircleCenterPoint.TarX,CircleCenterPoint.TarY,navi.Private.SetCalculationRadius);
i = 0;
Uart_Printf(COM1,"setWheelAngle = %.2f\r\n",angleOffset);
}
}
switch (agv.Command.CurDirection)
{
case 0:
DriverSteering1.Command.speed = 0;
break;
case 1:
if(agv.Command.SetBaseSpeed == 0)
{
DriverSteering1.Command.speed = 0;
DriverSteering1.Command.angle = AngleDifValue;
}
else
{
DriverSteering1.Command.angle = AngleDifValue;
DriverSteering1.Command.speed = agv.Command.SetBaseSpeed;
}
break;
case 2:
if(agv.Command.SetBaseSpeed == 0)
{
DriverSteering1.Command.speed = 0;
}
else
{
DriverSteering1.Command.angle = BackAngleOffset;
DriverSteering1.Command.speed = -agv.Command.SetBaseSpeed;
}
break;
case 3://
DriverSteering1.Command.speed = agv.Command.SetBaseSpeed;
break;
case 4:
DriverSteering1.Command.speed = agv.Command.SetBaseSpeed;
break;
case 5:
DriverSteering1.Command.speed = -agv.Command.SetBaseSpeed;
break;
case 6:
DriverSteering1.Command.speed = -agv.Command.SetBaseSpeed;
break;
case 7://前进弧线左转，左轮设定速度-固定速度差-补偿值
DriverSteering1.Command.angle = angleOffset;
DriverSteering1.Command.speed = agv.Command.SetBaseSpeed;
break;
case 8://前进弧线右转，左轮设定速度+固定速度差+补偿值
DriverSteering1.Command.angle = -angleOffset;
DriverSteering1.Command.speed = agv.Command.SetBaseSpeed;
break;
case 9://后退弧线左转，左轮设定速度+固定速度差-补偿值，给负速度
DriverSteering1.Command.angle = -angleOffset;
DriverSteering1.Command.speed = -agv.Command.SetBaseSpeed;
break;
case 10://后退弧线右转，左轮设定速度-固定速度差+补偿值，给负速度
DriverSteering1.Command.angle = angleOffset;
DriverSteering1.Command.speed = -agv.Command.SetBaseSpeed;
break;
default:
DriverSteering1.Command.angle = 0;
DriverSteering1.Command.speed = 0;
break;
}
}
//单舵轮直行
void SingleSteeringRunStraight()
{
static u16 stopSpeed = 0;
if(traffic_land_marks.size <= 3)//对接停车速度
{
stopSpeed = 60;
}
else
stopSpeed = agv.Parameter.AdvanceParkSpeed;
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.VerticalDistanceAgvToTARGET >= 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.VerticalDistanceAgvToTARGET, 0, agv.Parameter.AdvanceParkPos, agv.Command.NextDispatchSpeed, agv.Command.DispatchSpeed);
}
}
else //停车或者原地转
{
if (navi.Public.VerticalDistanceAgvToTARGET >= 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.VerticalDistanceAgvToTARGET <= agv.Parameter.AdvanceParkPos && navi.Public.VerticalDistanceAgvToTARGET > POSARRIVE_RANGE) //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.VerticalDistanceAgvToTARGET, 0, agv.Parameter.AdvanceParkPos, stopSpeed, agv.Command.DispatchSpeed);
}
else
agv.Command.SetBaseSpeed = stopSpeed;
}
// if (navi.Public.VerticalDistanceAgvToSTART < START_SPEEDUP_RANGE)
// {
// if (abs(DriverMotor1.Public.encoderSpeed - DriverMotor2.Public.encoderSpeed) > START_SPEEDDIFF_LIMIT) //速度差太大
// {
// agv.Command.SetBaseSpeed = abs(DriverMotor1.Public.encoderSpeed + DriverMotor2.Public.encoderSpeed) / 2;
// }
// setMotorSpeedSlope(2);
// }
// else
// setMotorSpeedSlope(5);
//三个点弧线转弯
#if P_SETUP_SINGLE_PLAYER == 0
if(agv.Command.NextDirection == 7 || agv.Command.NextDirection == 8 || agv.Command.NextDirection == 9 || agv.Command.NextDirection == 10)
{
if(navi.Public.VerticalDistanceAgvToTARGET <= RADIUSLIMIT)
{
traffic_land_marks.land_marks[agv.Command.standSiteID - 1].Direction = agv.Command.NextDirection;
if(agv.Command.NextDirection == 7 || agv.Command.NextDirection == 8)
{
traffic_land_marks.land_marks[agv.Command.standSiteID].Direction = 1;
}
else
{
traffic_land_marks.land_marks[agv.Command.standSiteID].Direction = 2;
}
}
}
#endif
}
//单舵轮弧线转弯
void SingleSteeringRunTurnning()
{
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(2);
}
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(5);
}
}
//单舵轮原地转弯
void SingleSteeringPirouette()
{
static float agvInAngle = 0,turnAngleDiff = 0,lastAngleDiff = 0;
static u8 TurnStep = 0, TurnArriveFlag = 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(agv.Command.CurDirection == 3||agv.Command.CurDirection == 6)//打舵
DriverSteering1.Command.angle = 895;
else
DriverSteering1.Command.angle = -900;
if(fabs(DriverSteering1.Public.encoderPose - DriverSteering1.Command.angle)<70)//打舵到位，目标舵轮角度和实际舵轮角度差小于1度
{
TurnStep = 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 (agvInAngle >= ADVANCE_STOPSLOPE_ANGLE)
{
agv.Command.SetBaseSpeed = TURNSPEED_MAX;
}
else if ((agvInAngle < ADVANCE_STOPSLOPE_ANGLE) && (agvInAngle > TURNINGOFF_ANGLE))
{
agv.Command.SetBaseSpeed = (int)mapping(agvInAngle, TURNINGOFF_ANGLE, ADVANCE_STOPSLOPE_ANGLE, TURNSPEED_MIN, TURNSPEED_MAX);
}
else if ((agvInAngle <= TURNINGOFF_ANGLE)||(turnAngleDiff*lastAngleDiff < 0))
{
TurnArriveFlag = 1;
}
lastAngleDiff = turnAngleDiff;
//出弯
if (TurnArriveFlag == 1)
{
//出弯
lastAngleDiff = 0;
agv.Command.SetBaseSpeed = 0;
if (abs(DriverMotor1.Public.encoderSpeed) < 5 && abs(DriverMotor2.Public.encoderSpeed) < 5)
{
DriverSteering1.Command.angle = 0;//回舵
if(abs(DriverSteering1.Public.encoderPose) < 40)//回舵完成
{
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;
}
}
}
}
}
setMotorSpeedSlope(5);
}
void chassisGetAutoSpeed(u8 *CurrentDir)
{
if(*CurrentDir == 1||*CurrentDir == 2)//直行
{
SingleSteeringRunStraight();//硬差速直行
}
else if(*CurrentDir == 3||*CurrentDir == 4||*CurrentDir == 5||*CurrentDir == 6)//原地旋转
{
SingleSteeringPirouette();
}
else if(*CurrentDir == 7||*CurrentDir == 8||*CurrentDir == 9||*CurrentDir == 10)//弧线转弯
{
SingleSteeringRunTurnning();//弧线转弯
}
}
#endif