Trackless.c
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#include "Trackless.h"
#if P_SETUP_NAV_TYPE==2||P_SETUP_NAV_TYPE==3
//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 + agv.Command.X_compensation; //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;
if(navi.Public.VerticalDistanceAgvToTARGET < LIGHT_STOP_SIGNAL_DIS)
{
if(agv.Command.LightStopSig == 1)//左光电停靠
{
if(agv.Public.i_LightStopFlagL == 1&&lastStopFlagL == 0)
{
LightArriveFlagL = 1;
}
if(LightArriveFlagL == 1)
{
Uart_Printf(COM1,"左光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
if(agv.Public.i_LightStopFlagL == 0 && navi.Public.VerticalDistanceAgvToTARGET < REFLECTIVE_RANGE)
{
navi.Private.FirstZeroPoint = 1;
}
if(navi.Private.FirstZeroPoint && navi.Public.VerticalDistanceAgvToTARGET > REFLECTIVE_RANGE*2)
{
Uart_Printf(COM1,"未扫到光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
}
else if(agv.Command.LightStopSig == 1)//右光电停靠
{
if(agv.Public.i_LightStopFlagR == 1&&lastStopFlagR == 0)
{
LightArriveFlagR = 1;
}
if(LightArriveFlagR == 1)
{
Uart_Printf(COM1,"右光电到达 %d\r\n",agv.Command.LightStopSig);
return 1;
}
}
else
{
if ((navi.Public.VerticalDistanceAgvToSTART >= (navi.Public.DistanceSTARTtoTARGET - POSARRIVE_RANGE)) && (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;
}
//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;
/****单机测试***/
#if P_SETUP_SINGLE_PLAYER == 1
if (*CurrentID >= traffic_land_marks.size)
{
*CurrentID = 1;
}
#elif P_SETUP_SINGLE_PLAYER == 0
if (*CurrentID >= traffic_land_marks.size)
{
if((agv.Command.LightStopSig == 1 && LightArriveFlagL == 1)||(agv.Command.LightStopSig == 2 && LightArriveFlagR == 1))
{
SetAlarm(0x200);
}
else
{
SetAlarm(0x40);
}
LightArriveFlagL = 0;
LightArriveFlagR = 0;
agv.Public.i_UpdatePathSig = 1;
}
#endif
Uart_Printf(COM1, "站点更新，当前站点 = %d 当前方向 = %d Error_Flag = %x\r\n", agv.Command.standSiteID, agv.Command.CurDirection, agv.Public.Error_Flag);
}
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)||(navi.Public.AngleDifference*lastAnglediff<0))
{
*CurrentID += 1;
}
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
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;
}
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 >= 2 && *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];
}
}
//计算偏移量 设置不同运动方式的pid值
void calculateOffsetValue(unsigned char Direction)
{
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(PointTwo, CircleCenterPoint); //入弯点到圆心的距离
}
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) //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
}
void slamNavigation()
{
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。
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***********
CalculateDistance(); //计算起始点、目标点、agv之前的距离
}
#endif