YuanHongbin/Acc_Support_29V_HV2.x
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YuanHongbin
2025-09-15 15:15:26 +08:00
parent 7dc8f7c6d7
commit f296a8eb48
5 changed files with 165 additions and 130 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+14 -4
View File
@@ -118,7 +118,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM)</Name> <Name>-X"Any" -UAny -O206 -S9 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@@ -228,6 +228,16 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>RightDiffSum,0x0A</ItemText> <ItemText>RightDiffSum,0x0A</ItemText>
</Ww> </Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>KeyASta</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>KeyBSta</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
@@ -275,7 +285,7 @@
<Enable>1</Enable> <Enable>1</Enable>
<EnableLog>0</EnableLog> <EnableLog>0</EnableLog>
<Protocol>2</Protocol> <Protocol>2</Protocol>
<DbgClock>1000000</DbgClock> <DbgClock>5000000</DbgClock>
</DebugDescription> </DebugDescription>
</TargetOption> </TargetOption>
</Target> </Target>
@@ -441,7 +451,7 @@
<GroupNumber>1</GroupNumber> <GroupNumber>1</GroupNumber>
<FileNumber>2</FileNumber> <FileNumber>2</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\..\..\mcu\common\system_hc32f460.c</PathWithFileName> <PathWithFileName>..\..\..\mcu\common\system_hc32f460.c</PathWithFileName>
@@ -453,7 +463,7 @@
<Group> <Group>
<GroupName>driver</GroupName> <GroupName>driver</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
Project/HC32F460/MDK/HC32F460.uvprojx
+4 -4
View File
@@ -320,13 +320,13 @@
<PlainCh>0</PlainCh> <PlainCh>0</PlainCh>
<Ropi>0</Ropi> <Ropi>0</Ropi>
<Rwpi>0</Rwpi> <Rwpi>0</Rwpi>
<wLevel>0</wLevel> <wLevel>2</wLevel>
<uThumb>0</uThumb> <uThumb>0</uThumb>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<uC99>1</uC99> <uC99>1</uC99>
<useXO>0</useXO> <useXO>0</useXO>
<v6Lang>3</v6Lang> <v6Lang>3</v6Lang>
<v6LangP>5</v6LangP> <v6LangP>3</v6LangP>
<vShortEn>1</vShortEn> <vShortEn>1</vShortEn>
<vShortWch>1</vShortWch> <vShortWch>1</vShortWch>
<v6Lto>0</v6Lto> <v6Lto>0</v6Lto>
@@ -1359,8 +1359,8 @@
<RTE> <RTE>
<apis/> <apis/>
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.0.1" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/> <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.0.1"/>
<targetInfos> <targetInfos>
<targetInfo name="Debug"/> <targetInfo name="Debug"/>
<targetInfo name="Release"/> <targetInfo name="Release"/>
Project/HC32F460/source/Module/dc_motor/dc_motor.c
+15 -6
View File
@@ -335,10 +335,21 @@ void Motor_SetDirection(uint8_t dir) {
} }
uint8_t KeyASta;
uint8_t KeyBSta;
uint8_t RunSta;
// 电机控制接口 // 电机控制接口
void Motor_Control(MotorCommand cmd) { void Motor_Control(MotorCommand cmd) {
g_motorCmd = cmd; g_motorCmd = cmd;
if(cmd == MOTOR_CMD_REVERSE)
KeyASta =true;
else if(cmd == MOTOR_CMD_FORWARD)
KeyBSta = true;
else
{
KeyASta = false;
KeyBSta = false;
}
} }
// 获取电机当前方向 // 获取电机当前方向
@@ -388,9 +399,7 @@ void Dcmotor1msRoutine(void)
uint8_t KeyASta;
uint8_t KeyBSta;
uint8_t RunSta;
void DcmotorLoopHandler(void) void DcmotorLoopHandler(void)
{ {
@@ -418,7 +427,7 @@ void DcmotorLoopHandler(void)
{ {
RunSta = true; RunSta = true;
Timer61B_Init(); Timer61B_Init();
g_motorSpeed = 8000; g_motorSpeed = 9500;
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
Timer6_StartCount(M4_TMR61); Timer6_StartCount(M4_TMR61);
@@ -430,7 +439,7 @@ void DcmotorLoopHandler(void)
{ {
RunSta = true; RunSta = true;
Timer61A_Init(); Timer61A_Init();
g_motorSpeed = 8000; g_motorSpeed = 9500;
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
Timer6_StartCount(M4_TMR61); Timer6_StartCount(M4_TMR61);
Project/HC32F460/source/User/Inc/main.h
+9 -1
View File
@@ -9,7 +9,14 @@
#define OSC_CNT 40 #define OSC_CNT 40
#define SLOPE_CNT 30 #define SLOPE_CNT 20
#define STOP_TIME_MS 500
#define RUN_TIME_MS 10
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_DOWN() Motor_Control(MOTOR_CMD_REVERSE)
typedef struct{ typedef struct{
int32_t Slope_VPT; int32_t Slope_VPT;
@@ -66,6 +73,7 @@ typedef struct {
uint32_t Read1mSDelayCnt; uint32_t Read1mSDelayCnt;
uint32_t Uart1Delay1mSCnt; uint32_t Uart1Delay1mSCnt;
uint32_t StopCollDelay1mSCnt; uint32_t StopCollDelay1mSCnt;
uint32_t RunCollDelay1mSCnt;
uint32_t EvenRunDelay1mSCnt; uint32_t EvenRunDelay1mSCnt;
uint8_t FeedDogDlyCnt; uint8_t FeedDogDlyCnt;
Project/HC32F460/source/User/Src/main.c
+122 -114
View File
@@ -147,18 +147,19 @@ 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();
Motor_Control(MOTOR_CMD_FORWARD);
App.UpFlag = true; App.UpFlag = true;
App.StopFlag = false; App.StopFlag = false;
App.DownFlag = false; App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
} }
else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) else 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)
@@ -166,18 +167,19 @@ 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();
Motor_Control(MOTOR_CMD_REVERSE);
App.DownFlag = true; App.DownFlag = true;
App.StopFlag = false; App.StopFlag = false;
App.UpFlag = false; App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
} }
} }
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum) else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)
@@ -189,18 +191,19 @@ 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();
Motor_Control(MOTOR_CMD_FORWARD);
App.UpFlag = true; App.UpFlag = true;
App.StopFlag = false; App.StopFlag = false;
App.DownFlag = false; App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
} }
else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) && (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
@@ -208,117 +211,120 @@ 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();
Motor_Control(MOTOR_CMD_REVERSE);
App.DownFlag = true; App.DownFlag = true;
App.StopFlag = false; App.StopFlag = false;
App.UpFlag = false; App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
} }
} }
} }
} }
else if(App.DownFlag == true) else if(App.DownFlag == true)
{ {
if(App.LeftRunFalg == true) if(App.RunCollDelay1mSCnt <= 0)
{ {
if(lu_slope < -App.ADTrack.Slope_VPT if(App.LeftRunFalg == true)
&& ll_slope > App.ADTrack.Slope_VPT)
{ {
//BDC_STOP(); if(lu_slope < -App.ADTrack.Slope_VPT
Motor_Control(MOTOR_CMD_STOP); && ll_slope > App.ADTrack.Slope_VPT)
App.StopFlag = true; {
App.DownFlag = false; BDC_STOP();
App.UpFlag = false; App.StopFlag = true;
App.StopCollDelay1mSCnt = 1000; App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Olu_diff1 > -(App.ADTrack.LeftUpVPT / 2)
&& Oll_diff1 < (App.ADTrack.LeftLowVPT / 2))
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
} }
else if(Olu_diff1 > -(App.ADTrack.LeftUpVPT / 2) else if(App.RightRunFalg == true)
&& Oll_diff1 < (App.ADTrack.LeftLowVPT / 2))
{ {
//BDC_STOP(); if(ru_slope < -App.ADTrack.Slope_VPT
Motor_Control(MOTOR_CMD_STOP); //&& rl_slope > App.ADTrack.Slope_VPT
App.StopFlag = true; )
App.DownFlag = false; {
App.UpFlag = false; BDC_STOP();
App.StopCollDelay1mSCnt = 1000; App.StopFlag = true;
} App.DownFlag = false;
} App.UpFlag = false;
else if(App.RightRunFalg == true) App.StopCollDelay1mSCnt = STOP_TIME_MS;
{ }
if(ru_slope < -App.ADTrack.Slope_VPT // else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
&& rl_slope > App.ADTrack.Slope_VPT) // //&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2)
{ // )
//BDC_STOP(); // {
Motor_Control(MOTOR_CMD_STOP); // BDC_STOP();
App.StopFlag = true; // App.StopFlag = true;
App.DownFlag = false; // App.DownFlag = false;
App.UpFlag = false; // App.UpFlag = false;
App.StopCollDelay1mSCnt = 1000; // App.StopCollDelay1mSCnt = STOP_TIME_MS;
} // }
else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = 1000;
} }
} }
} }
else if(App.UpFlag == true) else if(App.UpFlag == true)
{ {
if(App.LeftRunFalg == true) if(App.RunCollDelay1mSCnt <= 0)
{ {
if(lu_slope > App.ADTrack.Slope_VPT if(App.LeftRunFalg == true)
&& ll_slope < -App.ADTrack.Slope_VPT)
{ {
//BDC_STOP(); if(lu_slope > App.ADTrack.Slope_VPT
Motor_Control(MOTOR_CMD_STOP); && ll_slope < -App.ADTrack.Slope_VPT)
{
BDC_STOP();
App.StopFlag = true; App.StopFlag = true;
App.DownFlag = false; App.DownFlag = false;
App.UpFlag = false; App.UpFlag = false;
App.StopCollDelay1mSCnt = 1000; App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2)
&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
} }
else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2) else if(App.RightRunFalg == true)
&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
{ {
//BDC_STOP(); if(ru_slope > App.ADTrack.Slope_VPT
Motor_Control(MOTOR_CMD_STOP); //&& rl_slope < -App.ADTrack.Slope_VPT
App.StopFlag = true; )
App.DownFlag = false; {
App.UpFlag = false; BDC_STOP();
App.StopCollDelay1mSCnt = 1000; App.StopFlag = true;
} App.DownFlag = false;
} App.UpFlag = false;
else if(App.RightRunFalg == true) App.StopCollDelay1mSCnt = STOP_TIME_MS;
{ }
if(ru_slope > App.ADTrack.Slope_VPT // else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
&& rl_slope < -App.ADTrack.Slope_VPT) // && Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
{ // )
//BDC_STOP(); // {
Motor_Control(MOTOR_CMD_STOP); // BDC_STOP();
App.StopFlag = true; // App.StopFlag = true;
App.DownFlag = false; // App.DownFlag = false;
App.UpFlag = false; // App.UpFlag = false;
App.StopCollDelay1mSCnt = 1000; // App.StopCollDelay1mSCnt = STOP_TIME_MS;
} // }
else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = 1000;
} }
} }
} }
@@ -528,11 +534,11 @@ static void AppLoopHandler(void)
App.StopFlag = true; App.StopFlag = true;
App.EvenRunning = false; App.EvenRunning = false;
App.ADTrack.Slope_VPT = 1000; App.ADTrack.Slope_VPT = 1500;
App.ADTrack.LeftUpVPT = 20000; App.ADTrack.LeftUpVPT = 10000;
App.ADTrack.LeftLowVPT = 20000; App.ADTrack.LeftLowVPT = 10000;
App.ADTrack.RightUpVPT = 20000; App.ADTrack.RightUpVPT = 10000;
App.ADTrack.RightLowVPT = 20000; App.ADTrack.RightLowVPT = 10000;
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0]; App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0]; App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];
@@ -558,6 +564,8 @@ static void App1mSRoutine(void)
App.Uart1Delay1mSCnt--; App.Uart1Delay1mSCnt--;
if(App.StopCollDelay1mSCnt > 0) if(App.StopCollDelay1mSCnt > 0)
App.StopCollDelay1mSCnt--; App.StopCollDelay1mSCnt--;
if(App.RunCollDelay1mSCnt > 0)
App.RunCollDelay1mSCnt--;
if(App.EvenRunning == true) if(App.EvenRunning == true)
App.EvenRunDelay1mSCnt++; App.EvenRunDelay1mSCnt++;