SW0103:M2堵转时间改为2S
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app/OUTPUT/M12-05C_SW0103.mot
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app/OUTPUT/M12-05C_SW0103.mot
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@ -1,2 +1,3 @@
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SW0101:初版
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SW0102:电机M1的堵转电流改为8A
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SW0103:M2电机堵转时间改为2S
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@ -35,20 +35,11 @@ void setMotorState(uint8_t motorid,uint8_t act)
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/*
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20240106
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正转时：第一个电机M1正转6秒后，M2电机正转，M1最大运行时间15秒
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反转时：第一个电机M2反转8秒后，M1电机反转，M2最大运行时间17秒。
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20240111
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正转时：第一个电机M1正转2秒后，M2电机正转，M1最大运行时间15秒
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反转时：第一个电机M2反转5秒后，M1电机反转，M2最大运行时间17秒。
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*/
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#define MOTOR_DELAY_TIME_8S (500)
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#define MOTOR_DELAY_TIME_6S (200)
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#define MOTOR_DELAY_TIME_15S (1500)
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#define MOTOR_DELAY_TIME_17S (1700)
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#define MOTOR_DELAY_TIME_2S (200)
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uint16_t oc_delay_time = 0;
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void MotorCtrl1(void)//10ms
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{
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switch (MotorState[0])
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@ -154,10 +145,14 @@ void MotorCtrl2(void)//10ms
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MotorStateReal[MOTOR1] = ACT_NOACT;
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MotorStateReal[MOTOR2] = ACT_XQ;
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act_step[1] = 2;
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oc_delay_time = 0;
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}
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break;
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case 2:
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if (OC1flag == 1)
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{
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oc_delay_time++;
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if (oc_delay_time >= MOTOR_DELAY_TIME_2S)
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{
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OC1flag = 0;
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OC_Count1 = 0;
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@ -165,6 +160,8 @@ void MotorCtrl2(void)//10ms
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MotorStateReal[MOTOR2] = ACT_NOACT;
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act_step[1] = 3;
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}
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}
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break;
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case 3:
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break;
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@ -181,9 +178,13 @@ void MotorCtrl2(void)//10ms
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OC1flag = 0;
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OC_Count1 = 0;
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act_step[1] = 1;
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oc_delay_time = 0;
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break;
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case 1:
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if (OC1flag == 1)
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{
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oc_delay_time++;
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if (oc_delay_time >= MOTOR_DELAY_TIME_2S)
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{
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OC1flag = 0;
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OC_Count1 = 0;
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@ -191,6 +192,7 @@ void MotorCtrl2(void)//10ms
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MotorStateReal[MOTOR1] = ACT_NOACT;
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act_step[1] = 2;
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}
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}
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break;
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case 2:
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break;
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