PPC.c
14.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
#include "PPC.h"
#if P_SETUP_NAV_TYPE==4
//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; //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 ArriveJugement()
{
static u8 lastStopFlagL = 0,lastStopFlagR = 0, lastI_materialArriveFlag = 0;
if(navi.Public.VerticalDistanceAgvToTARGET < LIGHT_STOP_SIGNAL_DIS)
{
{
if(agv.Command.standSiteID >= traffic_land_marks.size - 1 && agv.Command.CurDirection == 2)
{
if(lastI_materialArriveFlag == 0 && agv.Public.i_materialArriveFlag && navi.Public.VerticalDistanceAgvToTARGET < 50)
{
lastI_materialArriveFlag = agv.Public.i_materialArriveFlag;
Uart_Printf(COM1,"arrive target station!!! \r\n");
return 1;
}
lastI_materialArriveFlag = agv.Public.i_materialArriveFlag;
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - POSARRIVE_RANGE)) &&
(navi.Public.VerticalDistanceAgvToTARGET < navi.Public.VerticalDistanceAgvToSTART)
)
{
return 1;
}
}
else
{
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - 20)) && (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;
}
extern float arriveCompensation;
//更新执行站点
void pathUpdate(u8 *CurrentID)
{
static int lastTime = 0;
static float lastAnglediff = 0;
/*****************到达站点判断以及切换站点**********************/
if (agv.Command.CurDirection == 1 || agv.Command.CurDirection == 2) //直行判断
{
//到达站点判断
if (ArriveJugement()==1)
{
navi.Private.FirstZeroPoint = 0;
*CurrentID += 1;
if (*CurrentID >= traffic_land_marks.size)
{
if(agv.Public.i_AutoCentringDown)
{
SetAlarm(0x20);
agv.Public.i_ShiftCenterStopFlag = 1;
}
else
{
SetAlarm(0x200);
LightArriveFlagL = 0;
LightArriveFlagR = 0;
agv.Public.i_UpdatePathSig = 1;
}
}
}
lastAnglediff = 0;
}
else if (agv.Command.CurDirection == 7 || agv.Command.CurDirection == 8 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10) //弧线转弯
{
//站点更新
if ((fabs(navi.Public.AngleDifference) <= (TURNINGOFF_ANGLE + arriveCompensation)))//||(navi.Public.AngleDifference*lastAnglediff<0))
{
*CurrentID += 1;
Uart_Printf(COM1,"chuwanjiaoducha = %.3f\r\n",navi.Public.AngleDifference);
}
lastAnglediff = navi.Public.AngleDifference;
}
agv.Command.DispatchSpeed = traffic_land_marks.land_marks[*CurrentID - 1].DispatchSpeed; //系统下发速度
agv.Command.CurDirection = traffic_land_marks.land_marks[*CurrentID - 1].Direction; //当前站点运行方向
agv.Command.LaserArea = traffic_land_marks.land_marks[*CurrentID - 1].LaserArea;
if (*CurrentID < traffic_land_marks.size) //当前站点不是最后站点，保存下一个站点方向和光电停车信号
{
agv.Command.LightStopSig = traffic_land_marks.land_marks[*CurrentID].LightStopSig; //目标站点广电信号
agv.Command.NextDirection = traffic_land_marks.land_marks[*CurrentID].Direction; //下个站点运行方向
agv.Command.NextDispatchSpeed = traffic_land_marks.land_marks[*CurrentID].DispatchSpeed;
}
else //已经是最后一个站点，没有下一个站点清零
{
agv.Command.LightStopSig = 0;
agv.Command.NextDirection = 0;
agv.Command.NextDispatchSpeed = 0;
}
if(agv.Command.CurDirection >= 7)
{
agv.Command.LandMarkID = traffic_land_marks.land_marks[*CurrentID].LandMarkID;
}
else
agv.Command.LandMarkID = traffic_land_marks.land_marks[*CurrentID - 1].LandMarkID;
StartPoint.TarX = traffic_land_marks.land_marks[*CurrentID - 1].pose[0]; //当前点（起点）
StartPoint.TarY = traffic_land_marks.land_marks[*CurrentID - 1].pose[1];
TargetPoint.TarX = traffic_land_marks.land_marks[*CurrentID].pose[0]; //目标点（终点）
TargetPoint.TarY = traffic_land_marks.land_marks[*CurrentID].pose[1];
if (*CurrentID < traffic_land_marks.size - 1) //实现弧线转弯需要有四个点位计算
{
// PointOne.TarX = traffic_land_marks.land_marks[*CurrentID - 2].pose[0];
// PointOne.TarY = traffic_land_marks.land_marks[*CurrentID - 2].pose[1];
PointTwo.TarX = traffic_land_marks.land_marks[*CurrentID - 1].pose[0];
PointTwo.TarY = traffic_land_marks.land_marks[*CurrentID - 1].pose[1];
PointThree.TarX = traffic_land_marks.land_marks[*CurrentID].pose[0];
PointThree.TarY = traffic_land_marks.land_marks[*CurrentID].pose[1];
PointFour.TarX = traffic_land_marks.land_marks[*CurrentID + 1].pose[0];
PointFour.TarY = traffic_land_marks.land_marks[*CurrentID + 1].pose[1];
}
}
//1,获取前视距离,根据剩余距离调整前视距离
float disFlag = 500;
float getControlFrontDistance(float *distance)
{
float valueDis = 0;
if(agv.Command.CurDirection == 1)
{
if(*distance > 1000)
{
valueDis = 1500;
}
else
valueDis = 1000;
}
else if(agv.Command.CurDirection == 2)
{
if(agv.Command.DispatchSpeed >= 500)
{
if(*distance > 1000)
{
valueDis = 1500;
}
else
valueDis = 1000;
}
else
{
valueDis = disFlag;
}
}
valueDis = 1500;
return valueDis;
}
//2,根据当前点位在路径上的映射，求出前视点位坐标
//计算偏移量 设置不同运动方式的pid值
void calculateOffsetValue(unsigned char Direction)
{
static int i = 0;
if (Direction == 7 || Direction == 8 || Direction == 9 || Direction == 10) //转弯需要计算圆心坐标
{
CircleCenterPoint = GetCircleCenterPoint(CurrentCenterPoint,PointThree,PointFour); //计算圆心坐标
navi.Private.SetCalculationRadius = TwoPointDistance(CurrentCenterPoint, CircleCenterPoint); //入弯点到圆心的距离
// navi.Private.SetCalculationRadius = RADIUSLIMIT;
// if(i++ >10)
// {
// i = 0;
// Uart_Printf(COM1,"当前坐标 = %.2f %.2f 圆心坐标 = %.2f %.2f 转弯半径 = %.2f\r\n",CurrentCenterPoint.TarX,CurrentCenterPoint.TarY,CircleCenterPoint.TarX,CircleCenterPoint.TarY,navi.Private.SetCalculationRadius);
// }
}
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
//根据不同车型和不同方向设置pid参数
pid = navi.PIDPara[0];
if (navi.Public.VerticalDistanceAgvToTARGET < agv.Parameter.OnlyAnglePos) //小于500MM只纠角度
pid = navi.PIDPara[3];
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
pid = navi.PIDPara[1];
if (navi.Public.VerticalDistanceAgvToTARGET < agv.Parameter.OnlyAnglePos && traffic_land_marks.size==2) //对接时小于500MM只纠角度
{
pid = navi.PIDPara[3];
// pid.AngleCofficient *= -1;
}
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;
}
}
//根据P值，I值，D值，位置偏差权重，角度偏差权重，输出偏移值
void offsetCompensationOutput(navigationPID *Pid)
{
static int i = 0;
static float LastCenterOffset = 0, LastAngleOffset = 0;
static float Error = 0, DcalError = 0, LastError = 0, SumError = 0;
//当位置和角度偏差变化重新计算
if (LastCenterOffset != navi.Public.CenterOffset || LastAngleOffset != navi.Public.AngleDifference)
{
LastCenterOffset = navi.Public.CenterOffset;
LastAngleOffset = navi.Public.AngleDifference;
//取角度和位置偏差做为偏差补偿量
Error = navi.Public.CenterOffset * Pid->PosCofficient + navi.Public.AngleDifference * 180 / PI * Pid->AngleCofficient;
DcalError = Error - LastError; //误差变化量
LastError = Error; //记录上次偏差
}
navi.Private.OutputOffset = Error * Pid->Kp + SumError * Pid->Ki + DcalError * Pid->Kd;
if (navi.Private.OutputOffset >= Pid->MaxLimit)
navi.Private.OutputOffset = Pid->MaxLimit;
else if (navi.Private.OutputOffset <= -Pid->MaxLimit)
navi.Private.OutputOffset = -Pid->MaxLimit;
#if PRINT_TYPE_SELECT == 1
// if (i++ > PRINT_FREQUENCY)
// {
// i = 0;
// // Uart_Printf(COM1,"当前方向 = %d,角度偏差 = %.2f,位置偏差 = %.2f,输出补偿值 = %.2f\r\n",
// // agv.Command.CurDirection,navi.Public.AngleDifference*57.3,navi.Public.CenterOffset,navi.Private.OutputOffset);
// Uart_Printf(COM1, "X = %.2f Y = %.2f 当前方向 = %d,发送速度 = %.2f %.2f 反馈速度 = %.2f %.2f 角度偏差 = %.2f,位置偏差 = %.2f,输出补偿值 = %.2f\r\n", agv.Public.Coordinate_X, agv.Public.Coordinate_Y,
// agv.Command.CurDirection, DriverMotor1.Command.speed, DriverMotor2.Command.speed, DriverMotor1.Public.encoderSpeed, DriverMotor2.Public.encoderSpeed, navi.Public.AngleDifference * 57.3, navi.Public.CenterOffset, navi.Private.OutputOffset);
// }
#endif
}
extern float AngleDifValue;
void slamNavigation()
{
static float LimitAngle = 0;
static int i = 0;
laserDataUpdate(); //获取激光数据，以及特殊工位定点补偿**************
pathUpdate(&agv.Command.standSiteID); //执行路径更新 和站点++判断。
CalculateDistance(); //计算起始点、目标点、agv之前的距离
static float angleDiff = 0,valueDis = 0;
Line Lpath;
if(agv.Command.CurDirection == 1)
{
Lpath = getLine2(StartPoint,TargetPoint);
navi.Private.FrontViewDistance = getControlFrontDistance(&navi.Public.DistanceAgvToTARGET);//获取并调节前视距离
FrontViewPoint = getControlTargetPoint(CurrentCenterPoint,Lpath,navi.Private.FrontViewDistance);//求预瞄点
navi.Private.FrontViewAngle = CalculatingDirectionAngle(CurrentCenterPoint,FrontViewPoint);//求当前点与预瞄点角度
if(agv.Command.CurDirection == 1)
angleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle,navi.Private.FrontViewAngle);//求车体与预瞄方向夹角
else
angleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle + PI,navi.Private.FrontViewAngle);//后退
valueDis = TwoPointDistance(CurrentCenterPoint,FrontViewPoint);//当前点到预瞄点距离
if(fabs(angleDiff) > 0)
{
navi.Private.SetCalculationRadius = valueDis/2/sin(angleDiff);//前进左偏为正，右打舵 右偏为负，左打舵 后退左偏为正，左打舵 右偏为负，右打舵
}
else
navi.Private.SetCalculationRadius = 0;
if(navi.Private.SetCalculationRadius != 0)
{
if(navi.Private.SetCalculationRadius > 0)
navi.Private.SetCalculationRadius -= RIGHTSTEERDISTANCE;
else
navi.Private.SetCalculationRadius += RIGHTSTEERDISTANCE;
AngleDifValue = fabs(atan2(DISWHEELTOCENTER,fabs(navi.Private.SetCalculationRadius)))*57.3*10;//打舵角度
if(angleDiff > 0)//左偏,右打舵 给负角度
{
AngleDifValue *= -1;
}
}
else
AngleDifValue = 0;
if(agv.Command.CurDirection == 2)
{
LimitAngle = 50;
}
else
LimitAngle = 100;
//打舵限制
if(AngleDifValue > LimitAngle)
{
AngleDifValue = LimitAngle;
}
else if(AngleDifValue < -LimitAngle)
{
AngleDifValue = -LimitAngle;
}
calculateOffsetValue(agv.Command.CurDirection);
if(i++ > 10)
{
i = 0;
Uart_Printf(COM1,"Straight CurPoint %.2f %.2f CenterOffset = %.2f angleDiff = %.2f Radius = %.2f setWheelAngle = %.2f\r\n",CurrentCenterPoint.TarX,CurrentCenterPoint.TarY,navi.Public.CenterOffset,angleDiff,navi.Private.SetCalculationRadius,AngleDifValue);
}
}
else
{
calculateOffsetValue(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***********
}
}
#endif