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 = 8;
navi.PIDPara[0].MaxLimit = 50;
navi.PIDPara[1].Kp = 1;//低速
navi.PIDPara[1].Ki = 0;
navi.PIDPara[1].Kd = 0;
navi.PIDPara[1].PosCofficient = 0.8;
navi.PIDPara[1].AngleCofficient =15;
navi.PIDPara[1].MaxLimit = 50;
navi.PIDPara[2].Kp = 1;
navi.PIDPara[2].Ki = 0;
navi.PIDPara[2].Kd = 0;
navi.PIDPara[2].PosCofficient = 0.6;
navi.PIDPara[2].AngleCofficient = 15;
navi.PIDPara[2].MaxLimit = 50;
navi.PIDPara[3].Kp = 1;
navi.PIDPara[3].Ki = 0;
navi.PIDPara[3].Kd = 0;
navi.PIDPara[3].PosCofficient = 0;
navi.PIDPara[3].AngleCofficient = 15;
navi.PIDPara[3].MaxLimit = 50;
}
void initAgvData()
{
Uart_Printf(COM1, "参数初始化\r\n");
agv.Command.standSiteID = 1;
agv.Command.Au_Hand = 0;
agv.Public.i_StartSig = 0;
agv.Public.i_StopSig = 0;
agv.Public.i_UpdatePathSig = 1;
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 = 800;//预停车距离100
agv.Parameter.AdvanceParkSpeed = 60;//预停车速度20
agv.Parameter.OnlyAnglePos = 500;//只纠偏角度距离
agv.Parameter.LiftSpeed = 60; //举升速度600
agv.Command.Barrier_ONOFF = 1;
agv.Command.Vol = 15;
agv.Command.Music_ONOFF = 1;
agv.Command.LaserArea = 1;
agv.Parameter.AGVID = 0x0000;
agv.Parameter.SetLift1Height = 320;
agv.Command.InitShiftSig = 1;
}
void InitParamater()
{
initPidData();
initAgvData();
}
void clearPathInfomation()
{
static int i = 0;
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(0x12A9); //清除脱线,停稳，系统停车
agv.Public.i_ShiftCenterStopFlag = 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
}
#if P_SETUP_SINGLE_PLAYER == 1
void initPathInfo()
{
#if PATHSELECTFLAG == 1
traffic_land_marks.land_marks[0].LightStopSig = 0;//起点
traffic_land_marks.land_marks[0].pose[0] = 800;
traffic_land_marks.land_marks[0].pose[1] = 800;
traffic_land_marks.land_marks[0].Direction = 9;
traffic_land_marks.land_marks[0].DispatchSpeed = 1000;
traffic_land_marks.land_marks[1].LightStopSig = 0;
traffic_land_marks.land_marks[1].pose[0] = 2000;
traffic_land_marks.land_marks[1].pose[1] = 800;
traffic_land_marks.land_marks[1].Direction = 2;
traffic_land_marks.land_marks[1].DispatchSpeed = 1000;
traffic_land_marks.land_marks[2].LightStopSig = 0;
traffic_land_marks.land_marks[2].pose[0] = 2000;
traffic_land_marks.land_marks[2].pose[1] = 3000;
traffic_land_marks.land_marks[2].Direction = 0;
traffic_land_marks.land_marks[2].DispatchSpeed = 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[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.size = 3;
#elif PATHSELECTFLAG == 2
traffic_land_marks.land_marks[0].LightStopSig = 0;//起点
traffic_land_marks.land_marks[0].pose[0] = 80000;
traffic_land_marks.land_marks[0].pose[1] = 25600;
traffic_land_marks.land_marks[0].Direction = 2;
traffic_land_marks.land_marks[0].DispatchSpeed = 500;
traffic_land_marks.land_marks[1].LightStopSig = 0;
traffic_land_marks.land_marks[1].pose[0] = 72000;
traffic_land_marks.land_marks[1].pose[1] = 25600;
traffic_land_marks.land_marks[1].Direction = 10;
traffic_land_marks.land_marks[1].DispatchSpeed = 500;
traffic_land_marks.land_marks[2].LightStopSig = 0;
traffic_land_marks.land_marks[2].pose[0] = 70000;
traffic_land_marks.land_marks[2].pose[1] = 27600;
traffic_land_marks.land_marks[2].Direction = 2;
traffic_land_marks.land_marks[2].DispatchSpeed = 500;
traffic_land_marks.land_marks[3].LightStopSig = 0;
traffic_land_marks.land_marks[3].pose[0] = 70000;
traffic_land_marks.land_marks[3].pose[1] = 33000;
traffic_land_marks.land_marks[3].Direction = 1;
traffic_land_marks.land_marks[3].DispatchSpeed = 500;
traffic_land_marks.land_marks[4].LightStopSig = 0;
traffic_land_marks.land_marks[4].pose[0] = 70000;
traffic_land_marks.land_marks[4].pose[1] = 27600;
traffic_land_marks.land_marks[4].Direction = 7;
traffic_land_marks.land_marks[4].DispatchSpeed = 500;
traffic_land_marks.land_marks[5].LightStopSig = 0;
traffic_land_marks.land_marks[5].pose[0] = 72000;
traffic_land_marks.land_marks[5].pose[1] = 25600;
traffic_land_marks.land_marks[5].Direction = 1;
traffic_land_marks.land_marks[5].DispatchSpeed = 500;
traffic_land_marks.land_marks[6].LightStopSig = 0;
traffic_land_marks.land_marks[6].pose[0] = 80000;
traffic_land_marks.land_marks[6].pose[1] = 25600;
traffic_land_marks.land_marks[6].Direction = 0;
traffic_land_marks.land_marks[6].DispatchSpeed = 0;
traffic_land_marks.size = 7;
#elif PATHSELECTFLAG == 3
traffic_land_marks.land_marks[0].LightStopSig = 0;//起点
traffic_land_marks.land_marks[0].pose[0] = 75000;
traffic_land_marks.land_marks[0].pose[1] = 26900;
traffic_land_marks.land_marks[0].Direction = 1;
traffic_land_marks.land_marks[0].DispatchSpeed = 500;
traffic_land_marks.land_marks[1].LightStopSig = 0;
traffic_land_marks.land_marks[1].pose[0] = 83144;
traffic_land_marks.land_marks[1].pose[1] = 26900;
traffic_land_marks.land_marks[1].Direction = 6;
traffic_land_marks.land_marks[1].DispatchSpeed = 200;
traffic_land_marks.land_marks[2].LightStopSig = 0;
traffic_land_marks.land_marks[2].pose[0] = 83144;
traffic_land_marks.land_marks[2].pose[1] = 28742;
traffic_land_marks.land_marks[2].Direction = 1;
traffic_land_marks.land_marks[2].DispatchSpeed = 200;
traffic_land_marks.land_marks[3].LightStopSig = 0;
traffic_land_marks.land_marks[3].pose[0] = 83144;
traffic_land_marks.land_marks[3].pose[1] = 26900;
traffic_land_marks.land_marks[3].Direction = 3;
traffic_land_marks.land_marks[3].DispatchSpeed = 300;
traffic_land_marks.land_marks[4].LightStopSig = 0;
traffic_land_marks.land_marks[4].pose[0] = 84144;
traffic_land_marks.land_marks[4].pose[1] = 26900;
traffic_land_marks.land_marks[4].Direction = 2;
traffic_land_marks.land_marks[4].DispatchSpeed = 500;
traffic_land_marks.land_marks[5].LightStopSig = 0;
traffic_land_marks.land_marks[5].pose[0] = 75000;
traffic_land_marks.land_marks[5].pose[1] = 26900;
traffic_land_marks.land_marks[5].Direction = 0;
traffic_land_marks.land_marks[5].DispatchSpeed = 0;
traffic_land_marks.size = 6;
#elif PATHSELECTFLAG == 4
traffic_land_marks.land_marks[0].LightStopSig = 0;//起点
traffic_land_marks.land_marks[0].pose[0] = 75000;//90000
traffic_land_marks.land_marks[0].pose[1] = 25200;
traffic_land_marks.land_marks[0].Direction = 2;
traffic_land_marks.land_marks[0].DispatchSpeed = 500;
traffic_land_marks.land_marks[1].LightStopSig = 0;
traffic_land_marks.land_marks[1].pose[0] = 82276;
traffic_land_marks.land_marks[1].pose[1] = 25200;
traffic_land_marks.land_marks[1].Direction = 9;//10
traffic_land_marks.land_marks[1].DispatchSpeed = 300;
traffic_land_marks.land_marks[2].LightStopSig = 0;
traffic_land_marks.land_marks[2].pose[0] = 83476;
traffic_land_marks.land_marks[2].pose[1] = 26400;
traffic_land_marks.land_marks[2].Direction = 2;
traffic_land_marks.land_marks[2].DispatchSpeed = 200;
traffic_land_marks.land_marks[3].LightStopSig = 0;
traffic_land_marks.land_marks[3].pose[0] = 83476;
traffic_land_marks.land_marks[3].pose[1] = 28694;
traffic_land_marks.land_marks[3].Direction = 1;
traffic_land_marks.land_marks[3].DispatchSpeed = 300;
traffic_land_marks.land_marks[4].LightStopSig = 0;
traffic_land_marks.land_marks[4].pose[0] = 83476;
traffic_land_marks.land_marks[4].pose[1] = 26400;
traffic_land_marks.land_marks[4].Direction = 8;
traffic_land_marks.land_marks[4].DispatchSpeed = 300;
traffic_land_marks.land_marks[5].LightStopSig = 0;
traffic_land_marks.land_marks[5].pose[0] = 82276;
traffic_land_marks.land_marks[5].pose[1] = 25200;
traffic_land_marks.land_marks[5].Direction = 1;
traffic_land_marks.land_marks[5].DispatchSpeed = 500;
traffic_land_marks.land_marks[6].LightStopSig = 0;
traffic_land_marks.land_marks[6].pose[0] = 75000;
traffic_land_marks.land_marks[6].pose[1] = 25200;
traffic_land_marks.land_marks[6].Direction = 0;
traffic_land_marks.land_marks[6].DispatchSpeed = 0;
traffic_land_marks.size = 7;
#endif
SetAlarm(0x0004);
}
#elif P_SETUP_SINGLE_PLAYER == 0
void initPathInfo()
{
memset(&traffic_land_marks,0,sizeof(traffic_land_marks));
SetAlarm(0x0040);
}
#endif
//上报Rptpose信息，参数为间隔多少毫秒上报一次
extern float CurAngle;
void reportRPTPose(u16 IntervalTime)
{
static int LastTime1 = 0, LastTime2 = 0, StopOKFlag = 0;
static u8 Shift1State = 0, Shift2State = 0;
static char CurDir = 'f';
if (agv.Public.Error_Flag & 0x200)
StopOKFlag = 1;
else
StopOKFlag = 0;
if (agv.Public.SystemTime - LastTime1 >= IntervalTime)
{
Uart_Printf(COM1,"%4x %s\r\n",agv.Parameter.AGVID,ParamBuff);
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::%d::%.1f_%.1f::%.1f_%.1f::%d_%d::%d_%d::%.2f_%.2f",
(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
1, //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,//(int)KincoStruct1.voltage, //电压
1, //定位状态
(int)DriverLifter1.Public.encoderPose, //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
CameraTwo.UpdataFlag, //物料状态 0没料 1有料
StopOKFlag, //停稳信号1停稳
agv.Public.i_SecondCommunication,
StartPoint.TarX,
StartPoint.TarY,
TargetPoint.TarX,
TargetPoint.TarY,
agv.Command.standSiteID,
traffic_land_marks.size,
(int)DriverSteering1.Command.speed,
(int)DriverLifter1.Command.speed,
Shifter1.encodePos,
navi.Public.CenterOffset
));
}
}