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PLAN1 测试OK

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This commit is contained in:
sunbeam 2024-10-27 15:57:10 +08:00
parent 6abc8093ac
commit ae58ea0381
5 changed files with 52 additions and 25 deletions
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12
app/BCZT.sunbeam.mtud
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File diff suppressed because one or more lines are too long

14
app/user/MotorCtrl.c
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@ -140,7 +140,7 @@ void setMotorState(uint8_t motorid,uint8_t act)
MotorState[motorid] = act;
if (act!=ACT_NOACT)
{
for (i = 0; i < 4; i++)
for (i = 0; i < 3; i++)
{
MotorTarget[i] = 0;
}
@ -158,6 +158,10 @@ void setMotorTarget(uint8_t motorid,uint16_t target)
MotorTarget[motorid] = target;
}
uint16_t getMotorTarget(uint8_t motorid)
{
return MotorTarget[motorid];
}
@ -320,7 +324,7 @@ void MotorMemoryKeyM3Release(void)
{
flagMotorMemoryKeyStart = 0;
buzzer_start();
for (i = 0; i < 6; i++)
for (i = 0; i < 3; i++)
{
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
{
@ -332,7 +336,7 @@ void MotorMemoryKeyM3Release(void)
}
else
{
for (i = 0; i < 6; i++)
for (i = 0; i < 3; i++)
{
setMotorTarget(i,MemoryLoc[2][i]);
}
@ -413,11 +417,11 @@ void MotorCtrl(void)//10ms
MotorHardStop2[3] = MotorHallLoc[3];
}
MotorState[MOTOR3] = ACT_NOACT;
MotorState[MOTOR4] = ACT_NOACT;
//MotorState[MOTOR4] = ACT_NOACT;
}
for (i = 0; i < 4; i++)
for (i = 0; i < 3; i++)
{
MotorStateReal[i] = MotorState[i];
if (MotorState[i] == ACT_NOACT && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )

3
app/user/MotorCtrl.h
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@ -26,6 +26,9 @@ void TP_act(void);
void setMotorState(uint8_t motorid,uint8_t act);
uint8_t getMotorState(uint8_t motorid);
void setMotorTarget(uint8_t motorid,uint16_t target);
uint16_t getMotorTarget(uint8_t motorid);
void MotorMemoryKeyM1Press(void);

44
app/user/appTask.c
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@ -352,7 +352,7 @@ void fw_tp_ctrl(void)//50ms
if (fw_tp_pressed)
{
fw_tp_cnt++;
if (fw_tp_cnt >= 100)//5s
if (fw_tp_cnt >= 60)//5s
{
fw_tp_cnt = 0;
fw_tp_pressed = 0;
@ -373,27 +373,42 @@ void fw_tp_ctrl(void)//50ms
case FW_TP_STATE_START:
if (fw_tp_switch)
{
TP_act();
FW_act();
}
else
{
FW_act();
TP_act();
}
fw_tp_switch = !fw_tp_switch;
fw_tp_stop = 0;
fw_tp_state = FW_TP_STATE_RUNNING;
break;
case FW_TP_STATE_RUNNING:
if (fw_tp_stop == 1)
if (fw_tp_stop == 1 || fw_tp_pressed == 1)
{
fw_tp_state = FW_TP_STATE_STOP;
fw_tp_stop = 0;
fw_tp_pressed = 0;
}
if (getMotorTarget(MOTOR1) == 0 &&
getMotorTarget(MOTOR2) == 0 &&
getMotorTarget(MOTOR3) == 0 )
{
fw_tp_state = FW_TP_STATE_STOP;
}
break;
case FW_TP_STATE_STOP:
setMotorState(MOTOR1,ACT_NOACT);
setMotorState(MOTOR2,ACT_NOACT);
setMotorState(MOTOR3,ACT_NOACT);
fw_tp_cnt = 0;
fw_tp_pressed = 0;
//setMotorState(MOTOR1,ACT_NOACT);
//setMotorState(MOTOR2,ACT_NOACT);
//setMotorState(MOTOR3,ACT_NOACT);
setMotorTarget(MOTOR1,0);
setMotorTarget(MOTOR2,0);
setMotorTarget(MOTOR3,0);
fw_tp_state = FW_TP_STATE_IDLE;
break;
@ -412,6 +427,7 @@ void js_ctrl(void)//50ms
{
static uint8_t js_state=JS_STATE_IDLE;
static uint16_t js_running_cnt;
static uint8_t motor1_flag = 0;
switch (js_state)
{
case JS_STATE_IDLE:
@ -447,8 +463,9 @@ void js_ctrl(void)//50ms
case JS_STATE_START:
#if M26B_PLAN == PLAN1
//setMotorState(MOTOR1,ACT_XQ);
motor1_flag = 0;
setMotorState(MOTOR2,ACT_XQ);
setMotorState(MOTOR3,ACT_XH);
setMotorState(MOTOR3,ACT_XQ);
#else
gotoJSLoc();
#endif
@ -457,9 +474,10 @@ void js_ctrl(void)//50ms
break;
case JS_STATE_RUNNING:
#if M26B_PLAN == PLAN1
if (getMotorState(MOTOR2) == ACT_NOACT)
if (getMotorState(MOTOR2) == ACT_NOACT && motor1_flag == 0)
{
setMotorState(MOTOR1,ACT_XQ);
motor1_flag = 1;
}
#endif
js_running_cnt++;
@ -467,11 +485,11 @@ void js_ctrl(void)//50ms
{
MOTOR4Ctrl(ACT_XQ);
}
else if (js_running_cnt >= 40 && js_running_cnt < 840)//2-42s
else if (js_running_cnt >= 40 && js_running_cnt < 1000)//2-50s
{
MOTOR4Ctrl(ACT_NOACT);
}
else if (js_running_cnt >= 840 && js_running_cnt < 880)//42-44s
else if (js_running_cnt >= 1000 && js_running_cnt < 1020)//50-52s
{
MOTOR4Ctrl(ACT_XH);
}
@ -482,7 +500,9 @@ void js_ctrl(void)//50ms
}
if (js_pressed == 1)
{
js_state = JS_STATE_STOP;
js_pressed = 0;
js_running_cnt = 999;
//js_state = JS_STATE_STOP;
setMotorState(MOTOR1,ACT_NOACT);
setMotorState(MOTOR2,ACT_NOACT);
setMotorState(MOTOR3,ACT_NOACT);

4
app/user/hwCtrl.c
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@ -134,9 +134,9 @@ uint8_t GetSigState(uint8_t keyno)
case SIGID_HALL_HG:
return getIOstate(IOID_P61);
case SIGID_HALL_ZD:
return getIOstate(IOID_P62);
case SIGID_HALL_TT:
return getIOstate(IOID_P63);
case SIGID_HALL_TT:
return getIOstate(IOID_P62);
default:
return 0;
}