543 lines
14 KiB
C++
543 lines
14 KiB
C++
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#include "Arduino.h"
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#include "motocontrol.h"
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#include "moto.h"
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#include <ESP32Servo.h>
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#include "config.h"
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#define DEBUG_OUT false
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Motocontrol::Motocontrol()
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{
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_controlstatus.is_instore = false;
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_controlstatus.is_setzero = false;
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_controlstatus.is_overweight = false;
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_controlstatus.zero_cnt = 0;
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_controlstatus.motostatus = MotoStatus::MS_Stop;
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_controlstatus.speed_targe = SPEED_BTN_SLOW;
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_check_targetlength = false;
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_pullweight = 0;
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_curr_length = 0.0;
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_hooksstatus = HS_UnInit;
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_weightalign = false;
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_overweightcount = 0;
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_notweightcount = 0;
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_autogoodsdown = false;
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_servotatus = SS_ServoUnLocked; // 停止状态，为了防止舵机堵转，和延时关闭电机需要一个停止状态机
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_unblocktimes = 0;
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}
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Motocontrol::~Motocontrol()
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{
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}
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bool Motocontrol::init(Servo *lockservo) // 初始化
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{
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_lockservo = lockservo;
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// 不管堵转问题，马上会执行其他初始化让舵机介绍
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_lockservo->write(SERVO_LOCKPOS);
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_servotatus = SS_ServoLocked;
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return _moto_dji.init();
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}
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void Motocontrol::setspeed(float motospeed, float acctime) // 设置速度
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{
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_controlstatus.speed_targe = motospeed;
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_moto_dji.settime_acc(acctime);
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}
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void Motocontrol::setweight(int pullweight) // 设置重量
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{
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_pullweight = pullweight;
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checkgoods();
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}
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String Motocontrol::gethooktatus_str()
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{
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String hookstatusstr="未知";
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switch (_hooksstatus)
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{
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case HS_UnInit:
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hookstatusstr="未初始化";
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break;
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case HS_Down:
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hookstatusstr="放钩";
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break;
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case HS_DownSlow:
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hookstatusstr="慢速放钩";
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break;
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case HS_WaitUnhook:
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hookstatusstr="等待脱钩";
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break;
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case HS_Up:
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hookstatusstr="回收";
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break;
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case HS_InStore:
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hookstatusstr="入仓中";
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break;
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case HS_Locked:
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hookstatusstr="已锁定";
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break;
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case HS_Stop:
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hookstatusstr="停止";
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break;
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default:
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hookstatusstr="未知";
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break;
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}
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return hookstatusstr;
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}
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void Motocontrol::checkgoods() // 检测是否超重
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{
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// 到顶部锁定状态，有向上的压力，重量不准，不能检测
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if (_controlstatus.is_toplocked)
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return;
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// 检查是否超重
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if (_pullweight > HOOK_WEIHT_MAX)
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{
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// 防止毛刺
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_overweightcount++;
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if (_overweightcount > 40)
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_controlstatus.is_overweight = true;
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}
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else
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{
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_controlstatus.is_overweight = false;
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_overweightcount = 0;
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}
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// 检查是否有货物
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if (_pullweight < HOOK_WEIHT_MIN)
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{
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// 防止毛刺
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_notweightcount++;
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if (_notweightcount > 40)
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{
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// printf("goods weight<min 40 times :%d \n", _pullweight);
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_controlstatus.is_havegoods = false;
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}
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}
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else
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{
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_controlstatus.is_havegoods = true;
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_notweightcount = 0;
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}
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}
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void Motocontrol::lockservo() // 锁定舵机
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{
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printf("start_lockservo\n");
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_servotatus = SS_WaitMotoStop;
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_tm_servotatus = millis();
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}
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void Motocontrol::unlockservo() // 解锁舵机
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{
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printf("unlockservo\n");
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// 解锁操作
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_lockservo->write(SERVO_UNLOCKPOS);
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_moto_dji.setspeedtarget(-1.0f); // 解锁时逆向慢速转动
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_servotatus = SS_WaitUnLock;
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_tm_servotatus = millis();
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_unblocktimes = 0;
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}
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void Motocontrol::stop(float acctime) // 停止
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{
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printf("stop \n");
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_moto_dji.settime_acc(acctime);
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_moto_dji.setspeedtarget(0.0f);
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_controlstatus.motostatus = MS_Stop;
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if ((_hooksstatus != HS_UnInit) || (_hooksstatus != HS_Stop))
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{
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_hooksstatus_prv = _hooksstatus;
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_hooksstatus = HS_Stop;
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}
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lockservo();
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}
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void Motocontrol::setlocked(bool locked)
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{
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if (locked)
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{
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stop();
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setzero();
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_hooksstatus = HS_Locked;
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_autogoodsdown = false;
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}
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_controlstatus.is_toplocked = locked;
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}
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void Motocontrol::setzero() // 设置0长度位置
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{
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// 记录0长度位置--以后需要保存到falsh里面
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_controlstatus.zero_cnt = getmotoinfo().output_round_cnt;
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_controlstatus.is_setzero = true;
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}
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int16_t Motocontrol::getlength() // 得到长度
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{
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return 0;
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}
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// 检测是否挂有货物
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void Motocontrol::goodsstartup()
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{
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_hooksstatus = HS_WaitUnhook;
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_tm_waitunhook = millis();
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}
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// 重量传感器已经校准
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void Motocontrol::weightalign(bool weightalign)
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{
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_weightalign = weightalign;
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}
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void Motocontrol::checkhookstatus() // 检查挂钩状态
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{
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// 需要在自动放货物中
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if (!_autogoodsdown)
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return;
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moto_measure_t mf = _moto_dji.getmotoinfo();
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_hook_currlen = _curr_length;
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switch (_hooksstatus)
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{
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// 正在下放货物
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case HookStatus::HS_Down:
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{
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// 如果没有货物--开始回收
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if (!_controlstatus.is_havegoods)
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{
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printf("HS_Down not havegoods wait unhook \n");
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goodsstartup();
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break;
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}
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if ((_goods_down_target_cnt != 0) && (mf.output_round_cnt > _goods_down_target_cnt))
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{
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_hooksstatus = HS_DownSlow;
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_moto_dji.settime_acc(500);
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set_hook_speed(SPEED_HOOK_SLOW);
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}
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break;
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}
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// 开始慢速下放
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case HookStatus::HS_DownSlow:
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{
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if (!_controlstatus.is_havegoods)
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{
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printf("HS_DownSlow not havegoods wait unhook \n");
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goodsstartup();
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}
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break;
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}
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// 等待脱钩
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case HookStatus::HS_WaitUnhook:
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{
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if ((millis() - _tm_waitunhook) > HOOK_UNHOOK_TIME)
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{
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printf("HS_WaitUnhook ok startup \n");
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_moto_dji.settime_acc(1000);
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set_hook_speed(-SPEED_HOOK_UP);
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_hooksstatus = HS_Up;
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_controlstatus.motostatus = MS_Up;
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}
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break;
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}
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// 开始收回
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case HookStatus::HS_Up:
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{
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// 会自动设置HS_Up状态
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break;
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}
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case HookStatus::HS_InStore:
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{
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// 会自动设置HS_InStore状态
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// 如果到顶部，会触发setlocked,不用在这里设置
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break;
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}
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}
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}
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// 检测舵机堵转---电流大或者角度不够，需要传感器
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bool Motocontrol::checkservoblock()
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{
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return false;
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}
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void Motocontrol::checkmotostatus() // 检查电机状态，比如什么时候停
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{
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moto_measure_t mf = _moto_dji.getmotoinfo();
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// 停止状态---1防止舵机堵转，2延时关闭电机供电
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switch (_servotatus)
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{
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case SS_WaitUnLock: // 舵机解锁
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{
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if ((millis() - _tm_servotatus) > TM_SERVOLOCK)
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{
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// 入仓时会自动设置速度，原速度不可用
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if (!_controlstatus.is_instore)
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_moto_dji.setspeedtarget(_runspeed);
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_servotatus = SS_ServoUnLocked;
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}
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break;
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}
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// 等待电机停止
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case SS_WaitMotoStop:
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{
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if (abs(mf.speed_rpm) < 3)
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{
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_lockservo->write(SERVO_LOCKPOS);
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_servotatus = SS_WaitServo;
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_tm_servotatus = millis();
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}
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break;
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}
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// 等待舵机执行到位---------防止堵转，功能没有使用，采用硬件防堵转舵机
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case SS_WaitServo:
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{
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// 舵机执行时间
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if ((millis() - _tm_servotatus) > TM_SERVOLOCK)
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{
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// 检测堵转,没堵转直接关闭电机,否则打开舵机，让电机旋转一点再锁定--最多重复3次
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if (!checkservoblock() || (_unblocktimes > 2))
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{
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printf("SS not servoblock close moto \n");
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_moto_dji.close();
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_servotatus = SS_ServoLocked;
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}
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else
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// 堵转
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{
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printf("SS servoblock unlock servo and turn moto \n");
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_tm_servotatus = millis();
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_servotatus = SS_WaitUnBlock;
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// 写一个不会堵转的位置
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_lockservo->write(SERVO_BLOCKUNLOCKPOS);
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// 转一点电机角度
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_moto_dji.setspeedtarget(SPEED_UNBLOCK);
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}
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}
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break;
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}
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case SS_WaitUnBlock:
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{
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if ((millis() - _tm_servotatus) > TM_UNBLOCK)
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{
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printf("SS lock servo \n");
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// 继续锁定等待舵机检测
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_lockservo->write(SERVO_LOCKPOS);
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_servotatus = SS_WaitServo;
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_tm_servotatus = millis();
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_unblocktimes++;
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}
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break;
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}
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}
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// 已设置零点
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if (_controlstatus.is_setzero)
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{
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// 总放线长度
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_curr_length = abs(mf.output_round_cnt - _controlstatus.zero_cnt) * WHEEL_PERIMETER;
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// 不能超ROPE_MAXLENGTH
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if ((_curr_length > ROPE_MAXLENGTH) && (_controlstatus.motostatus == MS_Down))
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stop();
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// 开始入仓
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// if ((_curr_length < (INSTORE_LENGTH_MIN + (mf.output_speed_rpm * mf.output_speed_rpm) * INSTORE_LENGTH_SPEED)) && (_controlstatus.motostatus == MotoStatus::MS_Up))
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float instlen;
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if (_controlstatus.is_havegoods)
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instlen = INSTORE_LENGTH_MIN_GOODS + abs(mf.output_speed_rpm) * INSTORE_LENGTH_SPEED;
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else
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instlen = INSTORE_LENGTH_MIN_NONE + abs(mf.output_speed_rpm) * INSTORE_LENGTH_SPEED;
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if ((_curr_length < instlen) && (_controlstatus.motostatus == MotoStatus::MS_Up))
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{
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if (!_controlstatus.is_instore)
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{
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_moto_dji.settime_acc(500);
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set_hook_speed(-SPEED_INSTORE);
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_controlstatus.is_instore = true;
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_hooksstatus = HS_InStore;
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printf("begin instore currlen:%.2f,instorelen:%.2f,speed:%.2f \n", _curr_length, instlen, mf.output_speed_rpm);
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}
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}
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else
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_controlstatus.is_instore = false;
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}
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if (_check_targetlength) // 有目标长度
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{
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if (_controlstatus.motostatus == MS_Down)
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{
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if (mf.output_round_cnt > _target_cnt)
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{
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printf("stop--cnt:%.2f ,tar:%.2f\n", mf.output_round_cnt, _target_cnt);
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stop(1000); // 缓慢停止
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}
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}
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else if (_controlstatus.motostatus == MS_Up)
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{
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if (mf.output_round_cnt < _target_cnt)
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{
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printf("cnt:%.2f ,tar:%.2f\n", mf.output_round_cnt, _target_cnt);
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stop(1000); // 缓慢停止
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}
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}
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}
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}
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void Motocontrol::set_hook_speed(float hooksspeed)
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{
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_goods_speed = hooksspeed;
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_runspeed = hooksspeed;
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_moto_dji.setspeedtarget(hooksspeed);
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}
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void Motocontrol::update() // 更新
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{
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_moto_dji.update();
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checkmotostatus();
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checkhookstatus();
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}
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void Motocontrol::direct_speed(float motospeed) // 直接控制电机--测试用
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{
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_moto_dji.setspeedtarget(motospeed);
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}
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moto_measure_t Motocontrol::getmotoinfo()
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{
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return _moto_dji.getmotoinfo();
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}
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control_status_t Motocontrol::getcontrolstatus() // 得到控制信息
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{
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return _controlstatus;
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}
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void Motocontrol::moto_goodsdownresume()
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{
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if (!_autogoodsdown) return;
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if (_hooksstatus == HS_Stop)
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{
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_runspeed = _goods_speed;
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if (_hooksstatus_prv == HS_Up)
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_controlstatus.motostatus = MS_Up;
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if (_hooksstatus_prv == HS_InStore)
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{
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_controlstatus.motostatus = MS_Up;
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_runspeed = -SPEED_INSTORE;
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}
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_hooksstatus = _hooksstatus_prv;
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_moto_dji.settime_acc(1000);
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unlockservo(); // 打开舵机
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// _moto_dji.setspeedtarget(_goods_speed);
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}
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}
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void Motocontrol::moto_goodsdown(float length)
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{
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if (length < 0.0)
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{
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printf("length<0 fault\n");
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return;
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}
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// 没设置零点
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if (!_controlstatus.is_setzero)
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{
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printf("not lengthzero fault\n");
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return;
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}
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if (!_weightalign)
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{
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printf("weight not align fault\n");
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return;
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}
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// 没挂东西
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if (!_controlstatus.is_havegoods)
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{
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printf("goods min fault:%d \n", _pullweight);
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return;
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}
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// 开始自动放货物状态
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_autogoodsdown = true;
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// 长度=0，直接中慢速下降，
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if (length == 0.0)
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{
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_goods_down_target_cnt = 0;
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setspeed(SPEED_HOOK_CHECK);
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_goods_speed = SPEED_HOOK_CHECK;
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}
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else
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{
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_goods_down_start_cnt = _moto_dji.getmotoinfo().output_round_cnt;
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_goods_down_target_cnt = _goods_down_start_cnt + length / WHEEL_PERIMETER;
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setspeed(SPEED_HOOK_FAST, TM_ACC_HS);
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_goods_speed = SPEED_HOOK_FAST;
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}
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moto_run(MS_Down);
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}
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// 按指定速度收放线 放线为+，收线为- 单位cm
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void Motocontrol::moto_run(MotoStatus updown, float length)
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{
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// 传入要stop，直接停
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if (updown == MS_Stop)
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{
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stop();
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return;
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}
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// 运动中暂时不管
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if ((_controlstatus.motostatus == MS_Down) || (_controlstatus.motostatus == MS_Up))
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{
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printf("motostatus is MS_Down\\MS_Up \n");
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return;
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}
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// 没设置速度不转
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if (_controlstatus.speed_targe == 0)
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{
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printf("not set speed_targe \n");
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return;
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}
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if (updown == MS_Up)
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{
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if (_controlstatus.is_toplocked)
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{
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printf("is_toplocked return\n");
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return;
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}
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if (_controlstatus.is_overweight)
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{
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printf("overweight fault :%d \n", _pullweight);
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return;
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}
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_hooksstatus = HS_Up;
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}
|
||
else
|
||
_hooksstatus = HS_Down;
|
||
|
||
unlockservo();
|
||
|
||
_controlstatus.motostatus = updown;
|
||
// 有长度限制
|
||
if (length != 0)
|
||
{
|
||
// 收需要负
|
||
if (updown == MotoStatus::MS_Up)
|
||
length = -length;
|
||
// 记录开始位置
|
||
_start_cnt = _moto_dji.getmotoinfo().output_round_cnt;
|
||
_target_cnt = _start_cnt + length / WHEEL_PERIMETER;
|
||
_check_targetlength = true;
|
||
}
|
||
else
|
||
_check_targetlength = false;
|
||
|
||
// 记录开始位置
|
||
float runspeed;
|
||
if (updown == MotoStatus::MS_Down)
|
||
runspeed = _controlstatus.speed_targe;
|
||
else
|
||
{
|
||
// 如果没有设置零点，不能快速收线
|
||
if (!_controlstatus.is_setzero)
|
||
_controlstatus.speed_targe = SPEED_BTN_SLOW;
|
||
runspeed = -_controlstatus.speed_targe;
|
||
}
|
||
// 开始转
|
||
printf("run speed:%.0f,tarcnt:%.2f\n", runspeed, _target_cnt);
|
||
_runspeed = runspeed;
|
||
// _moto_dji.setspeedtarget(runspeed);
|
||
} |