118 lines
2.3 KiB
C
118 lines
2.3 KiB
C
|
||
#include "MotorCtrl.h"
|
||
|
||
#include "hwCtrl.h"
|
||
#include "PINdef.h"
|
||
#include "appTask.h"
|
||
//#include "pfdl.h"
|
||
|
||
|
||
uint8_t MotorState[6],MotorStateReal[6];
|
||
|
||
|
||
|
||
void MotorValueInit(void)
|
||
{
|
||
uint8_t i = 0;
|
||
for (i = 0; i < 6; i++)
|
||
{
|
||
MotorState[i] = ACT_NOACT;
|
||
MotorStateReal[i] = ACT_NOACT;
|
||
}
|
||
}
|
||
|
||
|
||
void setMotorState(uint8_t motorid,uint8_t act)
|
||
{
|
||
//motorid-=1;
|
||
if (act <= ACT_XH && motorid < 6)
|
||
{
|
||
MotorState[motorid] = act;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/*
|
||
20240106
|
||
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
|
||
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。
|
||
20240111
|
||
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
|
||
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。
|
||
*/
|
||
|
||
#define MOTOR_DELAY_TIME_8S (500)
|
||
#define MOTOR_DELAY_TIME_6S (200)
|
||
#define MOTOR_DELAY_TIME_15S (1500)
|
||
#define MOTOR_DELAY_TIME_17S (1700)
|
||
void MotorCtrl(void)//10ms
|
||
{
|
||
static uint16_t MotorRunCount;
|
||
switch (MotorState[0])
|
||
{
|
||
case ACT_NOACT:
|
||
MotorRunCount = 0;
|
||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||
break;
|
||
case ACT_XQ:
|
||
MotorRunCount++;
|
||
if (MotorRunCount > MOTOR_DELAY_TIME_15S)
|
||
{
|
||
MotorRunCount = MOTOR_DELAY_TIME_15S;
|
||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||
}
|
||
else
|
||
{
|
||
MotorStateReal[MOTOR1] = ACT_XQ;
|
||
}
|
||
|
||
if (MotorRunCount > MOTOR_DELAY_TIME_6S)
|
||
{
|
||
//MotorRunCount = MOTOR_DELAY_TIME_6S;
|
||
MotorStateReal[MOTOR2] = ACT_XQ;
|
||
}
|
||
else
|
||
{
|
||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||
|
||
}
|
||
break;
|
||
|
||
case ACT_XH:
|
||
MotorRunCount++;
|
||
if (MotorRunCount > MOTOR_DELAY_TIME_17S)
|
||
{
|
||
MotorRunCount = MOTOR_DELAY_TIME_17S;
|
||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||
}
|
||
else
|
||
{
|
||
MotorStateReal[MOTOR2] = ACT_XH;
|
||
}
|
||
|
||
if (MotorRunCount > MOTOR_DELAY_TIME_8S)
|
||
{
|
||
//MotorRunCount = MOTOR_DELAY_TIME_8S;
|
||
MotorStateReal[MOTOR1] = ACT_XH;
|
||
}
|
||
else
|
||
{
|
||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||
}
|
||
break;
|
||
|
||
|
||
default:
|
||
break;
|
||
}
|
||
|
||
MOTOR1Ctrl(MotorStateReal[MOTOR1]);
|
||
MOTOR2Ctrl(MotorStateReal[MOTOR2]);
|
||
}
|
||
|
||
|
||
|
||
|