RunCore.c
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#include "RunCore.h"
//雷达避障减速处理
int laserSlowDownProcess(int baseSpeed)
{
if (agv.Public.i_DoubleReduction && baseSpeed > 50) //先执行二级避障，如果速度大于50减速到50
{
baseSpeed = 50;
}
else if (agv.Public.i_Reduction && baseSpeed > 100) //没有二级避障就执行一级避障,减速到100
{
baseSpeed = 100;
}
return baseSpeed;
}
void setMotorSpeedSlope(float speedSlope)
{
KincoStruct1.speedSlope = speedSlope;
KincoStruct2.speedSlope = speedSlope;
}
void StopChassis(float speedSlope)
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
void StopAgv(int speedSlope)
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
Lifter1.setSpeed = 0;
Rotate1.setSpeed = 0;
}
//报警代码处理，返回1代表没有报警，返回0代表报警
u8 alarmCodeProcess(u32 ErrorFlag)
{
static int i = 0, i2 = 0;
Y6(1);//音乐播放
if (ErrorFlag & 0xbf9e) //碰撞/急停/脱轨/系统预停车停车PLC急停
{
if (ErrorFlag & 0x1000) //升降马达过流报警
{
LED_color(LED_red, 1000);
agv.Command.MusicFlag = UpDwMoterMs; //语音提示
}
else if (ErrorFlag & 0x0100) //急停停车
{
LED_color(LED_red, 0);
agv.Command.MusicFlag = Music_Emg; //语音提示
}
else if (ErrorFlag & 0x2000) //定位失败
{
LED_color(LED_all, 1000);
agv.Command.MusicFlag = Music_close;
}
else if (ErrorFlag & 0x0400) //平台报警
{
LED_color(LED_all, 1000);
agv.Command.MusicFlag = UpDwMoterMs;
}
else if (ErrorFlag & 0x0008) //脱轨
{
LED_color(LED_all, 1000);
agv.Command.MusicFlag = Music_Derail;
}
else if (ErrorFlag & 0x8000) //脱轨
{
LED_color(LED_all, 1000);
agv.Command.MusicFlag = Music_Derail;
}
else if (ErrorFlag & 0x0080) //CAN总线异常
{
LED_color(LED_all, 1000);
}
else if (ErrorFlag & 0x0800) //驱动器报警
{
LED_color(LED_red, 1000);
agv.Command.MusicFlag = Music_Driver;
}
else if (ErrorFlag & 0x0002) //碰撞停车
{
LED_color(LED_rg, 0);
agv.Command.MusicFlag = Music_Et; //语音提示
}
else if (ErrorFlag & 0x0004) //暂停
{
if(Camera.UpdataFlag)
{
LED_color(LED_yellow, 100);
}
else
LED_color(LED_yellow, 1000);
agv.Command.MusicFlag = Music_Pause;
}
else if (ErrorFlag & 0x0200) //目标停车
{
LED_color(LED_blue, 1000);
agv.Command.MusicFlag = Music_close; //语音提示
StopChassis(10);
}
else
{
LED_color(LED_red, 500);
}
StopAgv(50);
return 0;
}
else if (ErrorFlag & 0x4061) //红外/暂停/单机停车/系统停车
{
if (ErrorFlag & 0x4000) //低电量
{
LED_color(LED_gy, 1000);
agv.Command.MusicFlag = Music_Power; //语音提示
}
else if (ErrorFlag & 0x0020) //货架纠偏
{
LED_color(LED_rg, 1000);
}
else if (ErrorFlag & 0x0001) //红外
{
LED_color(LED_ry, 0);
agv.Command.MusicFlag = Music_Laser; //语音提示
}
else if (ErrorFlag & 0x0040) //系统停车
{
LED_color(LED_yellow, 0);
agv.Command.MusicFlag = Music_close;
agv.Public.i_UpdatePathSig = 1;
StopChassis(10);
return 1;
}
else
{
LED_color(LED_red, 500);
}
StopAgv(5);
return 0;
}
else
{
if(Camera.UpdataFlag)
{
LED_color(LED_blue, 100);
}
else
LED_color(LED_blue, 1000);
agv.Command.MusicFlag = Music; //正常音乐播放
Y6(1);//音乐播放
return 1;
}
}
float CalculateDiffAngle(float A,float B)
{
static float angle = 0;
if(fabs(A - B) > 180)
{
// if(A > B)
// angle = fabs(A - B - 360);
// else if(A < B)
angle = fabs(fabs(A - B) - 360);
}
else
angle = fabs(A - B);
return angle;
}
float CalculateCurAngle(float A)//计算当前处于多少度
{
static float angle = 0;
if(A < 10 && A > -10)
{
angle = 0;
}
else if(A < 100 && A > 80)
{
angle = 90;
}
else if((A < -170 && A >= -180) || (A > 170 && A <= 180))
{
angle = 180;
}
else if(A < -80 && A > -100)
{
angle = -90;
}
return angle;
}
float judgeOffset = 8,controlOffset = 3;//一个是判断误差，一个是控制误差
void LookforPlatformPos()
{
static u8 StepFlag = 1,SelectFlag = 1;
if((fabs(CameraTwo.X_pixel) < judgeOffset && fabs(CameraTwo.Y_pixel) < judgeOffset) && SelectFlag == 1)//误差允许范围之内
{
Reset_Alarm(0x020);
SetAlarm(0x200);
agv.Public.i_UpdatePathSig = 1;
agv.Public.i_PlatformStopFlag = 0;
}
else
{
SelectFlag = 0;//关闭判断到位标志，开始纠偏
if(StepFlag == 1)//第一步纠正前后方向
{
if(CameraTwo.X_pixel > controlOffset)//超过允许误差
{
//后退
agv.Command.AGVControlState = 1;
}
else if(CameraTwo.X_pixel < - controlOffset)
{
//前进
agv.Command.AGVControlState = 2;
}
else
{
agv.Command.AGVControlState = 0;
StepFlag = 2;
}
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);//当前处于哪个轴
}
else if(StepFlag == 2)//第二步左转
{
agv.Command.AGVControlState = 3;//开始转弯
if(fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90) < 0.5)//转到位
{
agv.Command.AGVControlState = 0;
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);
StepFlag = 3;
}
}
else if(StepFlag == 3)//第三步纠正前后方向
{
if(CameraTwo.X_pixel > controlOffset)//超过允许误差
{
//后退
agv.Command.AGVControlState = 1;
}
else if(CameraTwo.X_pixel < -controlOffset)
{
//前进
agv.Command.AGVControlState = 2;
}
else
{
agv.Command.AGVControlState = 0;
StepFlag = 4;
}
}
else if(StepFlag == 4)//第四步回正
{
agv.Command.AGVControlState = 4;//开始转弯
if(fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90) < 0.5)//转到位
{
agv.Command.AGVControlState = 0;
CameraTwo.lastCurAngle = CalculateCurAngle(CameraTwo.angle);
StepFlag = 1;
SelectFlag = 1;
}
}
}
}
void LookforPlatformaSetSpeed()
{
static float diffAngle = 0,SpeedValue = 0;
diffAngle = fabs(CalculateDiffAngle(CameraTwo.angle,CameraTwo.lastCurAngle) - 90);
switch (agv.Command.AGVControlState)
{
case 0x00:
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
break;
case 0x01: //前进
KincoStruct1.setSpeed = 5;
KincoStruct2.setSpeed = 5;
break;
case 0x02: //后退
KincoStruct1.setSpeed = -5;
KincoStruct2.setSpeed = -5;
break;
case 0x03: //左转
if(diffAngle > 30)
{
KincoStruct1.setSpeed = -agv.Parameter.HandTurnSpeed;
KincoStruct2.setSpeed = agv.Parameter.HandTurnSpeed;
}
else if(diffAngle > 0.5)
{
SpeedValue = mapping(diffAngle,0.5,30,20,agv.Parameter.HandTurnSpeed);
KincoStruct1.setSpeed = -SpeedValue;
KincoStruct2.setSpeed = SpeedValue;
}
else
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
break;
case 0x04: //右转
if(diffAngle > 30)
{
KincoStruct1.setSpeed = agv.Parameter.HandTurnSpeed;
KincoStruct2.setSpeed = -agv.Parameter.HandTurnSpeed;
}
else if(diffAngle > 0.5)
{
SpeedValue = mapping(diffAngle,0.5,30,20,agv.Parameter.HandTurnSpeed);
KincoStruct1.setSpeed = SpeedValue;
KincoStruct2.setSpeed = -SpeedValue;
}
else
{
KincoStruct1.setSpeed = 0;
KincoStruct2.setSpeed = 0;
}
break;
}
}
//agv主要任务处理
void AGVRunCore()
{
static bool colorFlag = false;
static u8 CloseChargeSig = 0;
if(!Camera.UpdataFlag)
{
Y1(1);
}
else
{
colorFlag = Nsecend(200);
if(colorFlag)
Y1(1);
else
Y1(0);
}
if (!agv.Command.Au_Hand)//手动模式
{
CloseChargeSig = 1;
Y8(1); //打开充电器触点
traffic_land_marks.ChargingState = 0;
getPosAngleOffset(&navi.Public.CenterOffset,&CurrentCenterPoint.CurAngle);
LED_color(LED_yellow, 1000);//手动模式黄色
agv.Command.MusicFlag = 1;//关闭音乐播放
if(agv.Public.i_HandCentringDown)//下对中
{
LookforQRCodeCenter();
if(!(agv.Public.Error_Flag & 0x0100))//不是急停情况下
{
LookforQRCodeCenterSetSpeed();//地面纠偏速度发送
}
platformControlAuto();//联动旋转
}
else
{
chassisControlManual(); //底盘点动控制
platformControlManual(); //平台点动控制
clearPathInfomation(); //清除路径信息
agv.Command.LandMarkID = 0;
}
}
else //自动模式
{
if(CloseChargeSig)//关闭充电器触点
{
Y8(0);
CloseChargeSig = 0;
}
static int icount = 0;
#if P_SETUP_NAV_TYPE == 2 || P_SETUP_NAV_TYPE == 3 //无轨导航清除路径
slamNavigation();//无轨导航，计算路径更新，直行、转弯、旋转偏移量，以及通过偏移计算pid值。
#elif P_SETUP_NAV_TYPE == 1
QRcodeNavigation();//二维码导航
#endif
if (alarmCodeProcess(agv.Public.Error_Flag))//报警代码处理返回1（待完成超距、通讯超时报警），证明没有报警，进入运动控制部分
{
chassisGetAutoSpeed(&agv.Command.CurDirection); //****行走计算部分****根据不同运动方向 平移 直行 旋转 转弯以及距离目的地距离 确定agv速度
platformControlAuto(); //****平台计算和执行部分****待完成不同底盘上部结构运动处理 平台状态可能会要求agv减速或停车已完成对接
agv.Command.SetBaseSpeed = laserSlowDownProcess(agv.Command.SetBaseSpeed); //****雷达判断部分****雷达避障减速处理 agv整体速度减速
chassisControlAuto(); //****行走执行部分****根据不同底盘 agv整体速度 通过pid值计算差速agv的速度差或者舵轮agv的角度等 设置驱动器速度,避障减速处理
}
if(agv.Public.Error_Flag == 0x200 || agv.Public.Error_Flag == 0x040)//路径走完有停稳信号可以旋转
{
platformControlAuto();
chassisControlManual();//充电旋转
}
if(agv.Public.i_QRCodeCenterStopFlag)//寻找货架二维码中心位置
{
if(((Camera.YCoordingData == 970 || Camera.YCoordingData == -230) && Camera.XCoordingData == 52800 ) || ((Camera.XCoordingData == 19580 || Camera.XCoordingData == 20770) && Camera.YCoordingData == -2630 ) )
{
LookforQRCodeCenterEnd2();//工位对接
}
else
{
LookforQRCodeCenterEnd();//工位对接
}
if(!(agv.Public.Error_Flag & 0x0100))//不是急停情况下
{
LookforQRCodeCenterSetSpeed();//地面纠偏速度发送
}
platformControlAuto();//联动旋转
}
if(icount ++ > 50)
{
icount = 0;
Uart_Printf(COM1,"行走 路径接收= %d 货架纠偏 = %d 方向 = %d 举升 运行控制 = %d 速度 = %d 举升状态 = %d 报警代码 = %x 当前站点 = %d 当前方向 = %d 货架偏差 = %.2f %.2f\r\n",
agv.Public.i_UpdatePathSig,agv.Public.i_PlatformStopFlag,agv.Command.AGVControlState,Lifter1.runState,(int)Lifter1.setSpeed,Lifter1.liftState,agv.Public.Error_Flag,agv.Command.standSiteID,agv.Command.CurDirection,Camera.X_pixel,Camera.Y_pixel);
}
}
}
extern u8 recvfromCenterFlag;
void _AppTaskRunCoreUpdate(void)
{
static int iii = 0;
static int reportTime = 1000;
static int heartTime = 0 , heartTime1 = 0;;
static bool colorFlag1 = false;
if(agv.Parameter.AGVID == 0xA001)
reportTime = 496;
else if(agv.Parameter.AGVID == 0xA002)
reportTime = 596;
else if(agv.Parameter.AGVID == 0xA003)
reportTime = 696;
else if(agv.Parameter.AGVID == 0xA004)
reportTime = 496;
else if(agv.Parameter.AGVID == 0xA006)
reportTime = 555;
else if(agv.Parameter.AGVID == 0xA005)
reportTime = 596;
else if(agv.Parameter.AGVID == 0xA007)
reportTime = 496;
else if(agv.Parameter.AGVID == 0xA008)
reportTime = 696;
else if(agv.Parameter.AGVID == 0xA009)
reportTime = 596;
else if(agv.Parameter.AGVID == 0xA010)
reportTime = 496;
else if(agv.Parameter.AGVID == 0xA011)
reportTime = 655;
#if P_SETUP_NAV_TYPE == 2 || P_SETUP_NAV_TYPE == 3
SlamDataProcess(); //工控机SLAM通讯
#endif
// UpdateCameraData2();
platformDataProcess();//根据不同平台IO数据处理
// if(!recvfromCenterFlag)//在调度不下发指令时，上报RPTPOSE
reportRPTPose(reportTime); //上报调度信息,1000毫秒上报一次
// HMIDataUpdate(); //触摸屏数据更新
if(agv.Command.HandMotorState||agv.Command.CurDirection == 3 || agv.Command.CurDirection == 4)
{
agv.Command.LaserArea = 3;//旋转区域设置
}
if(!agv.Command.Heartstate )
{
agv.Command.Heartstate = 1;
heartTime = agv.Public.SystemTime;
Reset_Alarm(0x2000);
Y2(1);
}
if((agv.Public.SystemTime - heartTime >= 30000) && !(agv.Public.Error_Flag & 0x080))
{
SetAlarm(0x2000);//网咯掉线报警
colorFlag1 = Nsecend(200);
if(agv.Public.SystemTime - heartTime1 >= 10000)//每十秒复位上报信息
{
// agv.Command.UdpSendFlag = 0;
heartTime1 = agv.Public.SystemTime;
}
if(colorFlag1)
Y2(1);
else
Y2(0);
}
Laser_Run(agv.Command.LaserArea); //激光区域选择
UartReceiveDataFromSystem(); //获取调度系统下发数据
AGVRunCore(); //agv运动控制和逻辑处理
}