删除一个电机

app/user/MotorCtrl.c

@@ -195,259 +195,19 @@ void FW_act(void)
 {
     setMotorTarget(MOTOR1,MotorHardStop1[MOTOR1]-100);
     setMotorTarget(MOTOR2,MotorHardStop1[MOTOR2]-100);
-    setMotorTarget(MOTOR3,MotorHardStop2[MOTOR3]+100);
+    setMotorTarget(MOTOR3,MotorHardStop1[MOTOR3]-100);
-    setMotorTarget(MOTOR4,MotorHardStop1[MOTOR4]-100);
 }
 
 void TP_act(void)
 {
     setMotorTarget(MOTOR1,MotorHardStop2[MOTOR1]+500);//kb
     setMotorTarget(MOTOR2,MotorHardStop2[MOTOR2]+100);//hg
-    setMotorTarget(MOTOR3,MotorHardStop1[MOTOR3]-100);//zd
+    setMotorTarget(MOTOR3,MotorHardStop2[MOTOR3]+100);//tt
-    setMotorTarget(MOTOR4,MotorHardStop2[MOTOR4]+100);//tt
 }
 
 
 
-void AutoCalCtrl(void)
-{
-    static uint16_t autocalcounter[3];
-    static uint8_t MotorArr1state,MotorArr2state,MotorArr3state;
-    static uint8_t wait1,wait2,wait3;
-    uint8_t i;
-    uint32_t temp;
-    switch (AutoCalState)
-    {
-    case AUTOCAL_STOP:
-        MotorArr1state = AUTOCAL_STOP;
-        MotorArr2state = AUTOCAL_STOP;
-        //MotorArr3state = AUTOCAL_STOP;
-        return;
-    case AUTOCAL_START:
-        MotorArr1state = 1;
-        MotorArr2state = 1;
-        //MotorArr3state = 1;
-        setMotorState(MOTOR1,ACT_XQ);
-        setMotorState(MOTOR3,ACT_XQ);
-        //setMotorState(MOTOR5,ACT_XQ);
-        autocalcounter[0] = 0;
-        autocalcounter[1] = 0;
-        //autocalcounter[2] = 0;
-        AutoCalState++;
-        for (i = 0; i < 4; i++)
-        {
-            MotorHardStop1[i] = 0;
-            MotorHardStop2[i] = 0;
-            MotorHallLoc[i] = 0x8000;
-        }
-        break;
-    case AUTOCAL_ACT1:
-        if (MotorArr1state == 0 && MotorArr2state == 0 && MotorArr3state == 0)
-        {
-            for (i = 0; i < 6; i++)
-            {
-                temp = MotorHardStop1[i];
-                temp += MotorHardStop2[i];
-                setMotorTarget(i,temp/2);
-            }
-            
-        }
-        
-        
-        
-        break;
-    case AUTOCAL_ACT2:
 
-        break;
-    
-    default:
-        break;
-    }
-    //1
-    switch (MotorArr1state)
-    {
-    case 1://motor1 xq
-        autocalcounter[0]++;
-        if (MotorHardStop1[MOTOR1] != 0)
-        {
-            MotorArr1state++;
-            wait1 = 0;
-            setMotorState(MOTOR1,ACT_NOACT);
-        }
-        if (autocalcounter[0] > 3000 || MotorErr[MOTOR1] != 0)
-        {
-            MotorArr1state = 4;
-            wait1 = 0;
-            setMotorState(MOTOR1,ACT_NOACT);
-        }
-        break;
-    case 2://wait
-        wait1++;
-        if (wait1 > 50)
-        {
-            MotorArr1state++;
-            setMotorState(MOTOR1,ACT_XH);
-            autocalcounter[0] = 0;
-        }
-        break;
-    case 3://motor1 xh 
-        autocalcounter[0]++;
-        if (MotorHardStop2[MOTOR1] != 0)
-        {
-            MotorArr1state++;
-            wait1 = 0;
-            setMotorState(MOTOR1,ACT_NOACT);
-        }
-        if (autocalcounter[0] > 3000 || MotorErr[MOTOR1] != 0)
-        {
-            MotorArr1state = 4;
-            wait1 = 0;
-            setMotorState(MOTOR1,ACT_NOACT);
-        }
-        break;
-    case 4://wait
-        wait1++;
-        if (wait1 > 50)
-        {
-            MotorArr1state++;
-            setMotorState(MOTOR2,ACT_XQ);
-            autocalcounter[0] = 0;
-        }
-        break;
-    case 5://motor2 xq
-        autocalcounter[0]++;
-        if (MotorHardStop1[MOTOR2] != 0)
-        {
-            MotorArr1state++;
-            wait1 = 0;
-            setMotorState(MOTOR2,ACT_NOACT);
-        }
-        if (autocalcounter[0] > 3000 || MotorErr[MOTOR2] != 0)
-        {
-            MotorArr1state = 0;
-            setMotorState(MOTOR2,ACT_NOACT);
-        }
-        break;
-    case 6://wait
-        wait1++;
-        if (wait1 > 50)
-        {
-            MotorArr1state++;
-            setMotorState(MOTOR2,ACT_XH);
-            autocalcounter[0] = 0;
-        }
-        break;
-    case 7:
-        autocalcounter[0]++;
-        if (MotorHardStop2[MOTOR2] != 0)
-        {
-            MotorArr1state=0;
-            wait1 = 0;
-            setMotorState(MOTOR2,ACT_NOACT);
-        }
-        if (autocalcounter[0] > 3000 || MotorErr[MOTOR2] != 0)
-        {
-            MotorArr1state = 0;
-            setMotorState(MOTOR2,ACT_NOACT);
-        }
-        break;
-    default:
-        break;
-    }
-    
-    //2
-     switch (MotorArr2state)
-    {
-    case 1://motor3 xq
-        autocalcounter[1]++;
-        if (MotorHardStop1[MOTOR3] != 0)
-        {
-            MotorArr2state++;
-            wait2 = 0;
-	        setMotorState(MOTOR3,ACT_NOACT);	
-        }
-        if (autocalcounter[1] > 3000 || MotorErr[MOTOR3] != 0)
-        {
-            MotorArr2state = 4;
-            wait2 = 0;
-            setMotorState(MOTOR3,ACT_NOACT);
-        }
-        break;
-    case 2://wait
-        wait2++;
-        if (wait2 > 50)
-        {
-            MotorArr2state++;
-            setMotorState(MOTOR3,ACT_XH);
-            autocalcounter[1] = 0;
-        }
-        break;
-    case 3://motor3 xh 
-        autocalcounter[1]++;
-        if (MotorHardStop2[MOTOR3] != 0)
-        {
-            MotorArr2state++;
-            wait2 = 0;
-            setMotorState(MOTOR3,ACT_NOACT);
-        }
-        if (autocalcounter[1] > 3000 || MotorErr[MOTOR3] != 0)
-        {
-            MotorArr2state = 4;
-            wait2 = 0;
-            setMotorState(MOTOR3,ACT_NOACT);
-        }
-        break;
-    case 4://wait
-        wait2++;
-        if (wait2 > 50)
-        {
-	    MotorArr2state++;
-            setMotorState(MOTOR4,ACT_XQ);
-            autocalcounter[1] = 0;
-        }
-        break;
-    case 5://motor4 xq
-        autocalcounter[1]++;
-        if (MotorHardStop1[MOTOR4] != 0)
-        {
-            MotorArr2state++;
-            wait2 = 0;
-            setMotorState(MOTOR4,ACT_NOACT);
-        }
-        if (autocalcounter[1] > 3000 || MotorErr[MOTOR4] != 0)
-        {
-            MotorArr2state = 0;
-            setMotorState(MOTOR4,ACT_NOACT);
-        }
-        break;
-    case 6://wait
-        wait2++;
-        if (wait2 > 50)
-        {
-            MotorArr2state++;
-            setMotorState(MOTOR4,ACT_XH);
-            autocalcounter[1] = 0;
-        }
-        break;
-    case 7:
-        autocalcounter[1]++;
-        if (MotorHardStop2[MOTOR4] != 0)
-        {
-            MotorArr2state=0;
-            wait2 = 0;
-            setMotorState(MOTOR4,ACT_NOACT);
-        }
-        if (autocalcounter[1] > 3000 || MotorErr[MOTOR4] != 0)
-        {
-            MotorArr2state = 0;
-            setMotorState(MOTOR4,ACT_NOACT);
-        }
-        break;
-    default:
-        break;
-    }
-    
-}
 uint8_t flagMotorMemoryKeyStart,flagMotorMemoryKeyLongPress,flagKEYM1press;
 uint16_t countMotorMemoryKeyStart;
 uint16_t countMotorMemoryKeyLongPress;
@@ -581,7 +341,7 @@ void MotorCtrl(void)//10ms
 {
     uint8_t i;
     WriteMotorMemory(); //TODO
-    AutoCalCtrl();
+    //AutoCalCtrl();
     if (flagMotorMemoryKeyStart == 1)
     {
         countMotorMemoryKeyStart++;
@@ -699,7 +459,7 @@ void MotorCtrl(void)//10ms
     MOTOR1Ctrl(MotorStateReal[MOTOR1]);
     MOTOR2Ctrl(MotorStateReal[MOTOR2]);
     MOTOR3Ctrl(MotorStateReal[MOTOR3]);
-    MOTOR4Ctrl(MotorStateReal[MOTOR4]);
+
 
 }
 

app/user/PINdef.h

@@ -80,10 +80,10 @@ typedef enum
 #define OUT_RLY1N   P14_bit.no0
 #define OUT_RLY2P   P7_bit.no0//HG
 #define OUT_RLY2N   P3_bit.no2
-#define OUT_RLY3P   P13_bit.no0//ZD
+#define OUT_RLY4P   P13_bit.no0//TT
-#define OUT_RLY3N   P7_bit.no1
+#define OUT_RLY4N   P7_bit.no1
-#define OUT_RLY4P   P7_bit.no2//TT
+#define OUT_RLY3P   P7_bit.no2//JS
-#define OUT_RLY4N   P7_bit.no3
+#define OUT_RLY3N   P7_bit.no3
 
 
 

app/user/appTask.c

@@ -112,21 +112,21 @@ void KeyPressLogic(uint8_t keyid)
     case KEYID_HG_R:
         setMotorState(MOTOR2,ACT_XH);
         break;
-    case KEYID_ZD_UP:
+    // case KEYID_ZD_UP:
+    //     setMotorState(MOTOR3,ACT_XQ);
+    //     break;
+    // case KEYID_ZD_DOWN:
+    //     setMotorState(MOTOR3,ACT_XH);
+    //     break;
+    case KEYID_TT_UP:
         setMotorState(MOTOR3,ACT_XQ);
         break;
-    case KEYID_ZD_DOWN:
+    case KEYID_TT_DOWN:
         setMotorState(MOTOR3,ACT_XH);
         break;
-    case KEYID_TT_UP:
+    case KEYID_JS:
-        setMotorState(MOTOR4,ACT_XQ);
-        break;
-    case KEYID_TT_DOWN:
-        setMotorState(MOTOR4,ACT_XH);
-        break;
-    case KEYID_FW:
         //buzzer_start();
-        TP_act();
+        //TP_act();
         break;
     case KEYID_TP:
         //buzzer_start();
@@ -162,19 +162,19 @@ void KeyReleaseLogic(uint8_t keyid)
     case KEYID_HG_R:
         setMotorState(MOTOR2,ACT_NOACT);
         break;
-    case KEYID_ZD_UP:
+    // case KEYID_ZD_UP:
-        setMotorState(MOTOR3,ACT_NOACT);
+    //     setMotorState(MOTOR3,ACT_NOACT);
-        break;
+    //     break;
-    case KEYID_ZD_DOWN:
+    // case KEYID_ZD_DOWN:
-        setMotorState(MOTOR3,ACT_NOACT);
+    //     setMotorState(MOTOR3,ACT_NOACT);
-        break;
+    //     break;
     case KEYID_TT_UP:
-        setMotorState(MOTOR4,ACT_NOACT);
+        setMotorState(MOTOR3,ACT_NOACT);
         break;
     case KEYID_TT_DOWN:
-        setMotorState(MOTOR4,ACT_NOACT);
+        setMotorState(MOTOR3,ACT_NOACT);
         break;
-    case KEYID_FW:
+    case KEYID_JS:
 
         break;
     case KEYID_TP:

app/user/hwCtrl.c

@@ -117,7 +117,7 @@ uint8_t GetSigState(uint8_t keyno)
         return (getIOstate(IOID_P86)==0)?1:0;
     case SIGID_KEY_TT_DOWN:
         return (getIOstate(IOID_P85)==0)?1:0;
-    case SIGID_KEY_FW:
+    case SIGID_KEY_JS:
         return (getIOstate(IOID_P120)==0)?1:0;
     case SIGID_KEY_TP:
         return (getIOstate(IOID_P125)==0)?1:0;

app/user/hwCtrl.h

@@ -18,7 +18,7 @@ typedef enum
     KEYID_ZD_DOWN,
     KEYID_TT_UP,
     KEYID_TT_DOWN,
-    KEYID_FW,
+    KEYID_JS,
     KEYID_TP,
     KEYID_JY_SET,
     KEYID_JY_1,
@@ -37,7 +37,7 @@ typedef enum
     SIGID_KEY_ZD_DOWN,
     SIGID_KEY_TT_UP,
     SIGID_KEY_TT_DOWN,
-    SIGID_KEY_FW,
+    SIGID_KEY_JS,
     SIGID_KEY_TP,
     SIGID_KEY_JY_SET,
     SIGID_KEY_JY_1,