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sunbeam 2024-05-25 14:03:16 +08:00
commit 5c381cff96
5 changed files with 1126 additions and 1 deletions
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3
app/OUTPUT/更改履历.txt
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@ -1 +1,2 @@
SW0101:初版 SW0101:初版
SW0201:改PCB，增加堵转检测

8
app/user/MotorCtrl.c
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@ -56,17 +56,20 @@ void MotorCtrl(void)//10ms
MotorRunCount = 0; MotorRunCount = 0;
MotorStateReal[MOTOR1] = ACT_NOACT; MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT; MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
break; break;
case ACT_XQ://先1再2 case ACT_XQ://先1再2
switch (act_step) switch (act_step)
{ {
case 0: case 0:
MotorStateReal[MOTOR1] = ACT_XQ; MotorStateReal[MOTOR1] = ACT_XQ;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 1; act_step = 1;
break; break;
case 1: case 1:
if (OC1flag == 1) if (OC1flag == 1)
{ {
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT; MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_XQ; MotorStateReal[MOTOR2] = ACT_XQ;
act_step = 2; act_step = 2;
@ -76,6 +79,7 @@ void MotorCtrl(void)//10ms
case 2: case 2:
if (OC1flag == 1) if (OC1flag == 1)
{ {
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT; MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT; MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 3; act_step = 3;
@ -95,11 +99,13 @@ void MotorCtrl(void)//10ms
{ {
case 0: case 0:
MotorStateReal[MOTOR2] = ACT_XH; MotorStateReal[MOTOR2] = ACT_XH;
MotorStateReal[MOTOR1] = ACT_NOACT;
act_step = 1; act_step = 1;
break; break;
case 1: case 1:
if (OC1flag == 1) if (OC1flag == 1)
{ {
OC1flag = 0;
MotorStateReal[MOTOR2] = ACT_NOACT; MotorStateReal[MOTOR2] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_XH; MotorStateReal[MOTOR1] = ACT_XH;
act_step = 2; act_step = 2;
@ -109,6 +115,7 @@ void MotorCtrl(void)//10ms
case 2: case 2:
if (OC1flag == 1) if (OC1flag == 1)
{ {
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT; MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT; MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 3; act_step = 3;
@ -130,6 +137,7 @@ void MotorCtrl(void)//10ms
MOTOR1Ctrl(MotorStateReal[MOTOR1]); MOTOR1Ctrl(MotorStateReal[MOTOR1]);
MOTOR2Ctrl(MotorStateReal[MOTOR2]); MOTOR2Ctrl(MotorStateReal[MOTOR2]);
//MOTOR1Ctrl(MotorState[MOTOR1]);
} }
uint16_t getOC_th(void) uint16_t getOC_th(void)