ManualCourse.c
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#include "includes.h"
#include "hardware.h"
#include "all_value.h"
u8 Tim7_NotKeyNums;//用于无按键操作下的计时
u8 Step_KeyConfirm=0;//用于判断按键是否启用以及何种模式
u8 HandFtrig;//记录按键松开那一刻
u8 Tim5_Hand1Nums;//用于记录遥控安全启用+急停复位延时+高速延时
#define OtherManuAcEn 0u
void Inhand(void) //手动按键，获取动作类型
{
switch(Step_KeyConfirm)
{
case 0://没有按下急停按钮延时
// if (IN_Stop)Tim5_Hand1Nums=0;
// else if(Tim5_Hand1Nums>2)
// {Step_KeyConfirm=1;Tim5_Hand1Nums=0; }
if (IN_Stop==0)
{ Step_KeyConfirm=1;
Tim5_Hand1Nums=0;}
break;
case 1://按下急停延时
if (IN_Stop==0)
{ if(Tim5_Hand1Nums>1)
{ Step_KeyConfirm=2; AGV.AllAxisResetStep=1;AGV.Axis_No=0x3F;}
if (Handnum==0)Tim5_Hand1Nums=Tim7_NotKeyNums=0;
}
break;
}
if( (Step_KeyConfirm>=2)&&(Step_KeyConfirm<=4) )//遥控信号可采集
{ if (Handnum)Tim7_NotKeyNums=0;
else
{ if(IN_Stop==0)
{ if(Tim5_Hand1Nums>8 && OtherManuAcEn ) //松开急停后看时间
{ if(Step_KeyConfirm==2)Step_KeyConfirm=3;
else Step_KeyConfirm=2;
}
else if(Tim5_Hand1Nums>1){Step_KeyConfirm=2;AGV.AllAxisResetStep=1;AGV.Axis_No=0x3F;}
Tim5_Hand1Nums=0;
}
}
if(Tim7_NotKeyNums>90)//松开按键持续一定时间30min无操作，则关闭遥控功能
{ Step_KeyConfirm=1;Tim5_Hand1Nums=0;
}
}
/*handnum:1-整体前进；2-整体后退；3-原地左转 ；4-原地右转；5-上升；6-下降；7-整体向左；8-整体向右；9-急停；
10-左前45度平移；11-右前45度平移；12-左后45度平移；13-右后45度平移；14-舵轮左转；15-舵轮右转；
20-Vy+左弧形；21-Vy+右弧形；22-Vy-左弧形；23-Vy-右弧形；24-Vx+左弧形；25-Vx+右弧形；26-Vx-左弧形；27-Vx-右弧形；
*/
if(Workmode==ManuMode)
{
if(((IN_Forward|IN_Backward|IN_Up|IN_Down|IN_Left|IN_Right|IN_Cw|IN_CCw|IN_HelmLeft|IN_HelmRight)==0)|(IN_Stop==1))Handnum=0; //外部无按键操作
else
{
switch(SysKey)
{
default://手动确认2下，按键对应的点动常规动作
if(Step_KeyConfirm==2)
{ if(IN_Stop) Handnum=9;//急停
else if(IN_Forward) Handnum=1;//整车前进
else if(IN_Backward) Handnum=2;//整车后退
else if(IN_CCw) Handnum=3;//原地左转
else if(IN_Cw) Handnum=4;//原地右转
else if(IN_Up)Handnum=12;//上升、下层轴输送正转
else if(IN_Down) Handnum=13;//下降、下层轴输送反转
else if(IN_Left) Handnum=7;//整车左移
else if(IN_Right) Handnum=8;//整车右移
else if(Motor[5].Y)
{ if(IN_HelmLeft) Handnum=17;//上层6号轴输送反转
else if(IN_HelmRight) Handnum=16;//上层6号轴输送正转
}
}
break;
case 234://手动确认3下，按键对应的点动常规动作
if(Step_KeyConfirm==2)
{ if(IN_Stop) Handnum=9;//急停
else if(IN_Forward) Handnum=1;//1-整体前进
else if(IN_Backward) Handnum=2;//2-整体后退
else if(IN_CCw) Handnum=3;//3-原地左转
else if(IN_Cw) Handnum=4;//4-原地右转
else if(IN_Up)Handnum=12;//上升、5号轴输送
else if(IN_Down) Handnum=13;//下降
else if(IN_Left) Handnum=7;//7-整体向左
else if(IN_Right) Handnum=8;//8-整体向右
else if(IN_HelmLeft) Handnum=14;//舵轮左转
else if(IN_HelmRight) Handnum=15;//舵轮右转
}
break;
}
}
if ((Step_KeyConfirm>=2)&&(Step_KeyConfirm<=4)){;}
else Handnum=0;
if ( (TCP_Mode==200)&&(TCP_AcNo>0 &&TCP_AcNo<20) )Handnum=TCP_AcNo;//;
else if (TouckActionNo)Handnum=TouckActionNo;//触控模式下遥控器无效
if (Handnum)HandFtrig=1;
}
}
void Fc_Matrix_RPM_Axis(u8 ModeConfirmEn,signed long V1,signed long V2,signed long V3,signed long V4,signed long V5,signed long V6)//以轴为单位，直接下发转速
{ u8 i;
Motor[0].PcToM.Speed=V5;
Motor[1].PcToM.Speed=V1;
Motor[2].PcToM.Speed=V2;
Motor[3].PcToM.Speed=V3;
Motor[4].PcToM.Speed=V4;
Motor[5].PcToM.Speed=V6;
if (ModeConfirmEn)
{ for(i=0;i<MaxMotNums;i++)
{ Motor[i].PcToM.WorkMode=3;}
}
}
void Fc_Matrix_XSD_Axis(u8 ModeConfirmEn,float V1,float V2,float V3,float V4,float V5,float V6)//以轴为单位，线速度各轴速度，输入形参单位mm/s，或者度/s。
{ u8 i;
Motor[0].PcToM.Velocity=V5;
Motor[1].PcToM.Velocity=V1;
Motor[2].PcToM.Velocity=V2;
Motor[3].PcToM.Velocity=V3;
Motor[4].PcToM.Velocity=V4;
Motor[5].PcToM.Velocity=V6;
for(i=0;i<MaxMotNums;i++)
{
if ((ModeConfirmEn)&&(Motor[i].PcToM.AbsoluteHold_Enable==0))Motor[i].PcToM.WorkMode=3;//若开启到位置持续，模式不能为速度模式
Motor[i].PcToM.Speed=(signed int)(Motor[i].PcToM.Velocity/Motor[i].Max_Speed*(float)Motor[i].Max_rpm);
}
// Motor[0].PcToM.Speed=(signed int)(V5/Motor[0].Max_Speed*Motor[0].Max_rpm*10.0f); //
//
//
// Motor[5].PcToM.Speed=(signed int)(V6/SMax_Axis1*RMax_Axis1);
}
u8 ceshi89=0;
u8 FirstPosOk;
void Fc_Matrix_Agv(float V_x,float V_y,float V_w,float R_w,float V_z,float V_6)//以车为单位，整车速度,为了不同规格的车点动效果一样，此处使用单位mm/s，或者弧度/s。
{
float V1,V3;
float Ang2_Delta,Ang4_Delta;
float R2,R4;
V1=V3=0;
if( (V_x==0)&&(V_y==0)&&(V_w==0)&&(V_z==0)&&(V_6==0)&&(R_w==0) )
Fc_Matrix_XSD_Axis(1,0,0,0,0,0,0);
else if (V_z!=0)//升降
Fc_Matrix_XSD_Axis(1,0,0,0,0,V_z,0);
else if (V_6!=0)//6号轴
Fc_Matrix_XSD_Axis(1,0,0,0,0,0,V_6);
else
{ if ((V_w==0)&&(R_w==0))//整体平移（无旋转或者弧时）
{
if( (V_x==0)&&(V_y!=0) )//车体仅前后方向运动
{ Motor[2].PcToM.Angle_Target=Motor[4].PcToM.Angle_Target=90;
V1=V3=V_y;
}
else//若V_y==0 车体仅左右方向运动
{ Ang2_Delta=atan(V_y/V_x)*Du_Pi;//车体坐标系下的平移角度
if(fabs(Ang2_Delta)<=90)
{ Motor[2].PcToM.Angle_Target=Motor[4].PcToM.Angle_Target=Ang2_Delta;
if(sqrt(pow(V_x,2)+pow(V_y,2))>Motor[1].Max_Speed)
Ang4_Delta=Motor[1].Max_Speed;
else Ang4_Delta=sqrt(pow(V_x,2)+pow(V_y,2));
Ang4_Delta=fabs(Ang4_Delta);
if (V_x>0)V1=V3=Ang4_Delta;
else V1=V3=-Ang4_Delta;
}
}
}
else//有旋转时
{
if( (V_x==0)&&(V_y==0) )//原地旋转
{ if((V_w!=0)&&(R_w==0)) //原地旋转的速度看V_w，R_w=0
{ Motor[2].PcToM.Angle_Target=Motor[4].PcToM.Angle_Target=AngCw_Helm;
V1=-V_w*Dis_AgvC_Helm;
V3=-V1;
}
}
else if( (V_x!=0)&&(V_y!=0))
{;}
else //绕车体轴线上某点旋转，R_w为弧半径mm。旋转方向V_w：1为逆转，-1为顺转
{ if (R_w!=0)
{ if( (V_x==0)&&(V_y!=0) )//圆心在车体X轴上
{
Ang2_Delta=atan(F_YDis_Helm/(F_XDis_Helm+R_w))*Du_Pi;
R2=sqrt(pow(F_YDis_Helm,2)+pow(F_XDis_Helm+R_w,2));
Ang4_Delta=atan(F_YDis_Helm/(R_w-F_XDis_Helm))*Du_Pi;
R4=sqrt(pow(F_YDis_Helm,2)+pow(R_w-F_XDis_Helm,2));
V_z=fabs(R2*V_y/R_w);//借此量，V1的速度
V_6=fabs(R4*V_y/R_w);//借此量，V3的速度
if((V_z>Motor[1].Max_Speed))
{ V_6=V_6/V_z*Motor[1].Max_Speed;
V_z=Motor[1].Max_Speed;
}
if(Ang4_Delta<Ang_DeltaMax)
{
if( (V_y>0)&&(V_w==-1) )//前顺方向
{
Motor[2].PcToM.Angle_Target=90-Ang2_Delta;
Motor[4].PcToM.Angle_Target=90+Ang4_Delta;
V1=V_z;
V3=V_6;
}
else if( (V_y<0)&&(V_w==1) )//后逆方向
{
Motor[2].PcToM.Angle_Target=90-Ang2_Delta;
Motor[4].PcToM.Angle_Target=90+Ang4_Delta;
V1=-V_z;
V3=-V_6;
}
else if( (V_y>0)&&(V_w==1) )//前逆方向
{
Motor[2].PcToM.Angle_Target=90+Ang4_Delta;
Motor[4].PcToM.Angle_Target=90-Ang2_Delta;
V1=V_6;
V3=V_z;
}
else if( (V_y<0)&&(V_w==-1) )//后顺方向
{
Motor[2].PcToM.Angle_Target=90+Ang4_Delta;
Motor[4].PcToM.Angle_Target=90-Ang2_Delta;
V1=-V_6;
V3=-V_z;
}
}
}
else if( (V_x!=0)&&(V_y==0) )//圆心在车体Y轴上
{
Ang2_Delta=atan(F_XDis_Helm/(F_YDis_Helm+R_w))*Du_Pi;
R2=sqrt(pow(F_XDis_Helm,2)+pow(F_YDis_Helm+R_w,2));
Ang4_Delta=atan(F_XDis_Helm/(R_w-F_YDis_Helm))*Du_Pi;
R4=sqrt(pow(F_XDis_Helm,2)+pow(R_w-F_YDis_Helm,2));
V_z=fabs(R2*V_x/R_w);
V_6=fabs(R4*V_x/R_w);
if((V_z>Motor[1].Max_Speed))
{ V_6=V_6/V_z*Motor[1].Max_Speed;
V_z=Motor[1].Max_Speed;
}
if(Ang4_Delta<90)
{
if( (V_x>0)&&(V_w==-1) )//右顺方向
{
Motor[2].PcToM.Angle_Target=0+Ang2_Delta;
Motor[4].PcToM.Angle_Target=0-Ang4_Delta;
V1=V_z;
V3=V_6;
}
else if( (V_x<0)&&(V_w==1) )//左逆方向
{
Motor[2].PcToM.Angle_Target=0+Ang2_Delta;
Motor[4].PcToM.Angle_Target=0-Ang4_Delta;
V1=-V_z;
V3=-V_6;
}
else if( (V_x>0)&&(V_w==1) )//右逆方向
{
Motor[2].PcToM.Angle_Target=0-Ang4_Delta;
Motor[4].PcToM.Angle_Target=0+Ang2_Delta;
V1=V_6;
V3=V_z;
}
else if( (V_x<0)&&(V_w==-1) )//左顺方向
{
Motor[2].PcToM.Angle_Target=0-Ang4_Delta;
Motor[4].PcToM.Angle_Target=0+Ang2_Delta;
V1=-V_6;
V3=-V_z;
}
}
}
}
}
}
Ang2_Delta=Motor[2].MToPc.Angle_Actual-Motor[2].PcToM.Angle_Target;
Ang4_Delta=Motor[4].MToPc.Angle_Actual-Motor[4].PcToM.Angle_Target;
/*下述为调整舵轮姿态*/
if (ceshi89==0)
{ if( (Motor[2].PcToM.AbsoluteHold_Step==100) && (fabs(Ang2_Delta)<DeltaAngPerm_Helmzhuan) &&
(Motor[4].PcToM.AbsoluteHold_Step==100) && (fabs(Ang4_Delta)<DeltaAngPerm_Helmzhuan) )//转向轴的角度在允许角度范围内
{
if(VaIndexB_R(&AGV.AllAxisOK,2))Fc_Matrix_XSD_Axis(1,V1,0,V3,0,0,0);//舵轮行走平台必须在各轴都正常的情况下才可运行，点动模式用
}
else
{ if( Motor[2].PcToM.AbsoluteHold_Enable && Motor[4].PcToM.AbsoluteHold_Enable) //此处是寻迹时用，转角可以持续保持运动
{ if( (fabs(Ang2_Delta)<DeltaAngPerm_Helmzhuan) && (fabs(Ang4_Delta)<DeltaAngPerm_Helmzhuan) &&
(Motor[2].PcToM.AbsoluteHold_Step==20) && (Motor[4].PcToM.AbsoluteHold_Step==20) ) FirstPosOk=1;
if(VaIndexB_R(&AGV.AllAxisOK,2)&& (FirstPosOk |TZMiss) )Fc_Matrix_XSD_Axis(1,V1,0,V3,0,0,0);
}
else //普通点动模式，在转轴转到允许范围之后再动行走轴
{ Fc_Matrix_XSD_Axis(0,0,0,0,0,0,0);
Tim5_Hand1Nums=0;
if( (Motor[2].PcToM.AbsoluteHold_Step==100) && (fabs(Ang2_Delta)>DeltaAngPerm_Helmzhuan) )Motor[2].PcToM.AbsoluteHold_Step=0;
if( (Motor[4].PcToM.AbsoluteHold_Step==100) && (fabs(Ang4_Delta)>DeltaAngPerm_Helmzhuan) )Motor[4].PcToM.AbsoluteHold_Step=0;
}
if (Motor[2].PcToM.AbsoluteHold_Step==0){ Motor[2].PcToM.AbsoluteHold_Step=1;FirstPosOk=0;}
if (Motor[4].PcToM.AbsoluteHold_Step==0){ Motor[4].PcToM.AbsoluteHold_Step=1;FirstPosOk=0;}
}
}
}
}
u8 HighSpeedEn;
#define OverrideLow_UD 4.0f
#define OverrideHigh_UD 25.0f
#define OverrideLow_Go 2.0f
#define OverrideHigh_Go 15.0f
//float OverrideLow_Go=2.0f;
//float OverrideHigh_Go=25.0f;
#define OverrideLow_CW 1.5f
#define OverrideHigh_CW 7.5f
//float OverrideLow_CW=1.5f;
//float OverrideHigh_CW=5.0f;
#define OverrideHelmLow_CW 2.0f
//float OverrideHelmLow_CW=2.0f;
#define OverrideHelmHigh_CW 7.0f
#define OverrideLow_Conver 20.0f
u8 F_OverrideGo_M;//Manu行走最大速度
u8 F_OverrideUD_M;//Manu升降最大速度
u8 F_OverrideCW_M;//Manu旋转最大速度
u8 F_OverrideConvey_M;//Manu输送最大速度
float Radius=5000;
u8 SJXZEn=1;
void hand_control(u8 handnum)
{
u8 i;
/*handnum:1-整体前进；2-整体后退；3-原地左转 ；4-原地右转；5-上升；6-下降；7-整体向左；8-整体向右；9-急停；
10-左前45度平移；11-右前45度平移；12-左后45度平移；13-右后45度平移；14-舵轮左转；15-舵轮右转；
20-Vy+左弧形；21-Vy+右弧形；22-Vy-左弧形；23-Vy-右弧形；24-Vx+左弧形；25-Vx+右弧形；26-Vx-左弧形；27-Vx-右弧形；
*/
float SpeedOverride;
switch(handnum)
{
case 1: //整体前进
if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
else SpeedOverride=OverrideLow_Go;
Fc_Matrix_Agv(0,SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
break;
case 2: //整体后退
if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
else SpeedOverride=OverrideLow_Go;
Fc_Matrix_Agv(0,-SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
break;
case 7: //整体向左
if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
else SpeedOverride=OverrideLow_Go;
Fc_Matrix_Agv(-SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0,0);
break;
case 8: //整体向右
if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
else SpeedOverride=OverrideLow_Go;
Fc_Matrix_Agv(SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0,0);
break;
case 3: //原地左转
if (HighSpeedEn)SpeedOverride=F_OverrideCW_M;
else SpeedOverride=OverrideLow_CW;
Fc_Matrix_Agv(0,0,SpeedOverride*0.01f*Motor[1].Max_Speed/Dis_AgvC_Helm,0,0,0);
break;
case 4: //原地右转
if (HighSpeedEn)SpeedOverride=F_OverrideCW_M;
else SpeedOverride=OverrideLow_CW;
Fc_Matrix_Agv(0,0,-SpeedOverride*0.01f*Motor[1].Max_Speed/Dis_AgvC_Helm,0,0,0);
break;
// case 10: //左前45度平移
// if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
// else SpeedOverride=OverrideLow_Go;
// Fc_Matrix_Agv(-SpeedOverride*0.01f*Motor[1].Max_Speed,SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
// break;
// case 11: //右前45度平移
// if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
// else SpeedOverride=OverrideLow_Go;
// Fc_Matrix_Agv(SpeedOverride*0.01f*Motor[1].Max_Speed,SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
// break;
// case 12: //左后45度平移
// if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
// else SpeedOverride=OverrideLow_Go;
// Fc_Matrix_Agv(-SpeedOverride*0.01f*Motor[1].Max_Speed,-SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
// break;
// case 13: //右后45度平移
// if (HighSpeedEn)SpeedOverride=F_OverrideGo_M;
// else SpeedOverride=OverrideLow_Go;
// Fc_Matrix_Agv(SpeedOverride*0.01f*Motor[1].Max_Speed,-SpeedOverride*0.01f*Motor[1].Max_Speed,0,0,0,0);
// break;
case 12: //上升
// if(VaIndexDW_R(&F_AgvContr,9))Handnum=5;//6号轴是输送滚筒
if (HighSpeedEn)SpeedOverride=F_OverrideUD_M;
else SpeedOverride=OverrideLow_UD;
if(VaIndexDW_R(&F_AgvContr,8))Fc_Matrix_Agv(0,0,0,0,-(float)F_OverrideConvey_M*0.01f*Motor[0].Max_Speed,0);//5号轴是输送滚筒
else Fc_Matrix_Agv(0,0,0,0,SpeedOverride*0.01f*Motor[0].Max_Speed,0);//5号轴升降
Out_DownValve=0;
break;
case 13: //下降
if(VaIndexDW_R(&F_AgvContr,1))//液压
{ Out_DownValve=1;
Fc_Matrix_Agv(0,0,0,0,0,0); }
else
{
if (HighSpeedEn)SpeedOverride=F_OverrideUD_M;
else SpeedOverride=OverrideLow_UD;
if(VaIndexDW_R(&F_AgvContr,8))Fc_Matrix_Agv(0,0,0,0,(float)F_OverrideConvey_M*0.01f*Motor[0].Max_Speed,0);//5号轴是输送滚筒
else Fc_Matrix_Agv(0,0,0,0,-SpeedOverride*0.01f*Motor[0].Max_Speed,0);//5号轴升降
}
break;
case 14: //舵轮左转
if (HighSpeedEn)SpeedOverride=OverrideHelmHigh_CW;
else SpeedOverride=OverrideHelmLow_CW;
Fc_Matrix_XSD_Axis(1,0,-SpeedOverride*0.01f*Motor[2].Max_Speed,0,-SpeedOverride*0.01f*Motor[2].Max_Speed,0,0);
break;
case 15: //舵轮右转
if (HighSpeedEn)SpeedOverride=OverrideHelmHigh_CW;
else SpeedOverride=OverrideHelmLow_CW;
Fc_Matrix_XSD_Axis(1,0,SpeedOverride*0.01f*Motor[2].Max_Speed,0,SpeedOverride*0.01f*Motor[2].Max_Speed,0,0);
break;
case 16: //输送电机正转-向右
Fc_Matrix_Agv(0,0,0,0,0,(float)F_OverrideConvey_M*0.01f*Motor[5].Max_Speed);
break;
case 17: //输送电机反转-向左
Fc_Matrix_Agv(0,0,0,0,0,-(float)F_OverrideConvey_M*0.01f*Motor[5].Max_Speed);
break;
case 20: //Vy+左弧形
Fc_Matrix_Agv(0,OverrideLow_Go*0.01f*Motor[1].Max_Speed,1,Radius,0,0);
break;
case 21: //Vy+右弧形
Fc_Matrix_Agv(0,OverrideLow_Go*0.01f*Motor[1].Max_Speed,-1,Radius,0,0);
break;
case 22: //Vy-左弧形
Fc_Matrix_Agv(0,-OverrideLow_Go*0.01f*Motor[1].Max_Speed,1,Radius,0,0);
break;
case 23: //Vy-右弧形
Fc_Matrix_Agv(0,-OverrideLow_Go*0.01f*Motor[1].Max_Speed,-1,Radius,0,0);
break;
case 24: //Vx+左弧形
Fc_Matrix_Agv(OverrideLow_Go*0.01f*Motor[1].Max_Speed,0,1,Radius,0,0);
break;
case 25: //Vx+右弧形
Fc_Matrix_Agv(OverrideLow_Go*0.01f*Motor[1].Max_Speed,0,-1,Radius,0,0);
break;
case 26: //Vx-左弧形
Fc_Matrix_Agv(-OverrideLow_Go*0.01f*Motor[1].Max_Speed,0,1,Radius,0,0);
break;
case 27: //Vx-右弧形
Fc_Matrix_Agv(-OverrideLow_Go*0.01f*Motor[1].Max_Speed,0,-1,Radius,0,0);
break;
default:
if (HandFtrig!=0)
{
Fc_Matrix_Agv(0,0,0,0,0,0);Out_DownValve=0;
Motor[2].PcToM.AbsoluteHold_Enable=Motor[4].PcToM.AbsoluteHold_Enable=0;
Motor[2].PcToM.AbsoluteHold_Step=Motor[4].PcToM.AbsoluteHold_Step=0;
Motor[2].PcToM.TargetSpeed=Motor[4].PcToM.TargetSpeed=0;
Tim5_Hand1Nums=0;
FirstPosOk=0;
HandFtrig=0;
}
break;
}
if ((Tim5_Hand1Nums>6)&&(handnum!=0))
{ if( (TouckActionNo>0&&TouckActionNo<11&&(TCP_AcNo==0))|(TCP_AcNo>0&&TCP_AcNo<11&&(TouckActionNo==0)) ){;}
else HighSpeedEn=1;
}
else HighSpeedEn=0;
if (handnum!=0)
{ for(i=0;i<MaxMotNums;i++)
{
if(i>0&&i<5)
{ if(Motor[i].Max_rpm<2500)
{ Motor[i].PcToM.Acc=2000;
Motor[i].PcToM.Dcc=2200; //避免停止时过大晃动
}
else
{ Motor[i].PcToM.Acc=1200;
Motor[i].PcToM.Dcc=1500; //避免停止时过大晃动 //1000
}
}
else
{ Motor[i].PcToM.Acc=2000;
Motor[i].PcToM.Dcc=1000;
}
}
// if (AGV.AxisEn_Step==0) AGV.AxisEn_Step=1;//
}
}
void ManualCourse_Pro(void) //
{
Inhand();
hand_control(Handnum);
}