YuanHongbin/Acc_Support_29V_HV2.x
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调试2

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YuanHongbin
2025-09-15 16:21:24 +08:00
parent f296a8eb48
commit 2d0af6a368
2 changed files with 57 additions and 49 deletions
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Project/HC32F460/source/User/Inc/main.h
+2 -2
View File
@@ -9,10 +9,10 @@
#define OSC_CNT 40 #define OSC_CNT 40
#define SLOPE_CNT 20 #define SLOPE_CNT 40
#define STOP_TIME_MS 500 #define STOP_TIME_MS 500
#define RUN_TIME_MS 10 #define RUN_TIME_MS 500
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP) #define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD) #define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
Project/HC32F460/source/User/Src/main.c
+55 -47
View File
@@ -140,6 +140,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.RightRunFalg = false; App.RightRunFalg = false;
if(LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum) if(LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum)
{ {
uint32_t UpSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
uint32_t LowSlopeSum = abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
uint32_t UpDiffSum = abs(lu_diff[0]) + abs(ru_diff[0]);
uint32_t LowDiffSum = abs(ll_diff[0]) + abs(rl_diff[0]);
// if(UpSlopeSum > LowSlopeSum && UpDiffSum > LowDiffSum)
// {
//
// }
App.LeftRunFalg = true; App.LeftRunFalg = true;
if(((App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) if(((App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) && (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
@@ -147,12 +156,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) && (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) && (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) && (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
// || ((Olu_diff1 >= App.ADTrack.LeftUpVPT) || ((Olu_diff1 >= App.ADTrack.LeftUpVPT)
// && (Olu_diff2 >= App.ADTrack.LeftUpVPT) && (Olu_diff2 >= App.ADTrack.LeftUpVPT)
// && (Olu_diff3 >= App.ADTrack.LeftUpVPT) && (Olu_diff3 >= App.ADTrack.LeftUpVPT)
// && (Oll_diff1 <= -App.ADTrack.LeftLowVPT) && (Oll_diff1 <= -App.ADTrack.LeftLowVPT)
// && (Oll_diff2 <= -App.ADTrack.LeftLowVPT) && (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
// && (Oll_diff3 <= -App.ADTrack.LeftLowVPT)) && (Oll_diff3 <= -App.ADTrack.LeftLowVPT))
) )
{ {
BDC_UP(); BDC_UP();
@@ -167,12 +176,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) && (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) && (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)) && (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
// || ((Olu_diff1 <= -App.ADTrack.LeftUpVPT) || ((Olu_diff1 <= -App.ADTrack.LeftUpVPT)
// && (Olu_diff1 <= -App.ADTrack.LeftUpVPT) && (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
// && (Olu_diff1 <= -App.ADTrack.LeftUpVPT) && (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
// && (Oll_diff1 >= App.ADTrack.LeftLowVPT) && (Oll_diff1 >= App.ADTrack.LeftLowVPT)
// && (Oll_diff1 >= App.ADTrack.LeftLowVPT) && (Oll_diff1 >= App.ADTrack.LeftLowVPT)
// && (Oll_diff1 >= App.ADTrack.LeftLowVPT)) && (Oll_diff1 >= App.ADTrack.LeftLowVPT))
) )
{ {
BDC_DOWN(); BDC_DOWN();
@@ -191,12 +200,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) && (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) && (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) && (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
// || ((Oru_diff1 >= App.ADTrack.RightUpVPT) || ((Oru_diff1 >= App.ADTrack.RightUpVPT)
// && (Oru_diff2 >= App.ADTrack.RightUpVPT) && (Oru_diff2 >= App.ADTrack.RightUpVPT)
// && (Oru_diff3 >= App.ADTrack.RightUpVPT) && (Oru_diff3 >= App.ADTrack.RightUpVPT)
// && (Orl_diff1 <= -App.ADTrack.RightLowVPT) && (Orl_diff1 <= -App.ADTrack.RightLowVPT)
// && (Orl_diff2 <= -App.ADTrack.RightLowVPT) && (Orl_diff2 <= -App.ADTrack.RightLowVPT)
// && (Orl_diff3 <= -App.ADTrack.RightLowVPT)) && (Orl_diff3 <= -App.ADTrack.RightLowVPT))
) )
{ {
BDC_UP(); BDC_UP();
@@ -211,12 +220,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) && (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) && (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)) && (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
// || ((Oru_diff1 <= -App.ADTrack.RightUpVPT) || ((Oru_diff1 <= -App.ADTrack.RightUpVPT)
// && (Oru_diff2 <= -App.ADTrack.RightUpVPT) && (Oru_diff2 <= -App.ADTrack.RightUpVPT)
// && (Oru_diff3 <= -App.ADTrack.RightUpVPT) && (Oru_diff3 <= -App.ADTrack.RightUpVPT)
// && (Orl_diff1 >= App.ADTrack.RightLowVPT) && (Orl_diff1 >= App.ADTrack.RightLowVPT)
// && (Orl_diff2 >= App.ADTrack.RightLowVPT) && (Orl_diff2 >= App.ADTrack.RightLowVPT)
// && (Orl_diff3 >= App.ADTrack.RightLowVPT)) && (Orl_diff3 >= App.ADTrack.RightLowVPT))
) )
{ {
BDC_DOWN(); BDC_DOWN();
@@ -256,7 +265,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
else if(App.RightRunFalg == true) else if(App.RightRunFalg == true)
{ {
if(ru_slope < -App.ADTrack.Slope_VPT if(ru_slope < -App.ADTrack.Slope_VPT
//&& rl_slope > App.ADTrack.Slope_VPT && rl_slope > App.ADTrack.Slope_VPT
) )
{ {
BDC_STOP(); BDC_STOP();
@@ -265,16 +274,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false; App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
} }
// else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2) else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
// //&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2) && Orl_diff1 < (App.ADTrack.RightLowVPT / 2))
// ) {
// { BDC_STOP();
// BDC_STOP(); App.StopFlag = true;
// App.StopFlag = true; App.DownFlag = false;
// App.DownFlag = false; App.UpFlag = false;
// App.UpFlag = false; App.StopCollDelay1mSCnt = STOP_TIME_MS;
// App.StopCollDelay1mSCnt = STOP_TIME_MS; }
// }
} }
} }
} }
@@ -306,7 +314,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
else if(App.RightRunFalg == true) else if(App.RightRunFalg == true)
{ {
if(ru_slope > App.ADTrack.Slope_VPT if(ru_slope > App.ADTrack.Slope_VPT
//&& rl_slope < -App.ADTrack.Slope_VPT && rl_slope < -App.ADTrack.Slope_VPT
)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
) )
{ {
BDC_STOP(); BDC_STOP();
@@ -315,16 +333,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false; App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
} }
// else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
// && Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
// )
// {
// BDC_STOP();
// App.StopFlag = true;
// App.DownFlag = false;
// App.UpFlag = false;
// App.StopCollDelay1mSCnt = STOP_TIME_MS;
// }
} }
} }
} }
@@ -534,7 +542,7 @@ static void AppLoopHandler(void)
App.StopFlag = true; App.StopFlag = true;
App.EvenRunning = false; App.EvenRunning = false;
App.ADTrack.Slope_VPT = 1500; App.ADTrack.Slope_VPT = 2000;
App.ADTrack.LeftUpVPT = 10000; App.ADTrack.LeftUpVPT = 10000;
App.ADTrack.LeftLowVPT = 10000; App.ADTrack.LeftLowVPT = 10000;
App.ADTrack.RightUpVPT = 10000; App.ADTrack.RightUpVPT = 10000;