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agv.c
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agv.c
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#include "motor.h"
#include "gyro.h"
#include "agv.h"
static float run_speed_voltage_control = 0;
static float run_degree_voltage_control = 0;
void AGV_V_set(float speed)
{
AGV_status.V_Set = speed;
run_speed_voltage_control = speed / PI / (D_MOTOR / 100.0) / NOMBER_OF_TURNS_PRE_VOLTAGE_PRE_SECODE;
motor_speed_set(RIGHT_MOTOR,speed);
motor_speed_set(LEFT_MOTOR,speed);
}
void AGV_run(void)
{
AGV_V_set( ACON_RUN_SPEED_INIT);
//AGV_status.V_Set = ACON_RUN_SPEED_INIT;
motor_run(LEFT_MOTOR,CW);
motor_run(RIGHT_MOTOR,CCW);
AGV_status.runing_status = 1;
AGV_status.rotating_status = 0;
}
void AGV_stop(void)
{
motor_stop(LEFT_MOTOR);
motor_stop(RIGHT_MOTOR);
PID_data_V.err_pre_1 = 0;
PID_data_V.err_pre_2 = 0;
PID_data_run.err_pre_1 = 0;
PID_data_run.err_pre_2 = 0;
if(!AGV_status.avoid_obj_warnning_cnt)
{
AGV_status.runing_status = 0;
AGV_status.rotating_status = 0;
AGV_status.updata_waitting_status = 0;
}else
{
AGV_status.accident_stop_flag = 1;
}
}
void AGV_rotate(void)
{
int tmp = 0;
AGV_V_set(ACON_ROTATION_SPEED);
// motor_speed_set(ROTATION_MOTOR,ACON_ROTATION_SPEED);
switch(AGV_status.AGV_control_p->data.rotating_data.rotating_towards)
{
case LEFT:
motor_run(LEFT_MOTOR,CCW);
motor_run(RIGHT_MOTOR,CCW);
//motor_run(ROTATION_MOTOR,CCW);
tmp = AGV_status.runing_towards - AGV_status.AGV_control_p->data.rotating_data.rotating_degree;
break;
case RIGHT:
motor_run(LEFT_MOTOR,CW);
motor_run(RIGHT_MOTOR,CW);
//motor_run(ROTATION_MOTOR,CW);
tmp = AGV_status.runing_towards + AGV_status.AGV_control_p->data.rotating_data.rotating_degree;
break;
}
if(tmp >= 360)
{
tmp -= 360;
}
else if(tmp < 0)
{
tmp += 360;
}
AGV_status.updata_waitting_status = DRGREE_UPDATA_WRITING; //由于陀螺仪默认状态下一直在更新角度状态，因此此赋值暂无意义
AGV_status.rotating_status = 1;
AGV_status.runing_status = 0;
AGV_status.runing_towards = tmp;
}
static void AGV_control_pre(void)
{
int cnt = 0,tmp = 0;
float LEN_left = 0, LEN_right = 0;
if(AGV_status.runing_status || AGV_status.rotating_status)
{
#ifdef DEBUG
if(AGV_status.runing_status && AGV_status.rotating_status) //状态冲突检测
{
while(1)
{
usart_sent("error#2\n");
}
}
#endif //DEBUG
tmp = CON_ENCODE_RIGHT->CNT;
cnt = (tmp - AGV_status.encode_right_cnt + ACON_TIM_CONT) % ACON_TIM_CONT;
if(AGV_status.rotating_status && RIGHT == AGV_status.AGV_control_p->data.rotating_data.rotating_towards)
{
cnt = ACON_TIM_CONT - cnt;
}
if(cnt > ACON_TIM_CONT / 2)
{
cnt = 0;
}
AGV_status.V_right = cnt * PI * (D_MOTOR / 100.0) / CON_ENCODE_CNT / ACON_PID_CONTROL_TIME * 1000; //无方向
AGV_status.encode_right_cnt = tmp;
tmp = CON_ENCODE_LEFT->CNT;
cnt = (tmp - AGV_status.encode_left_cnt + ACON_TIM_CONT) % ACON_TIM_CONT;
if(AGV_status.rotating_status && LEFT == AGV_status.AGV_control_p->data.rotating_data.rotating_towards)
{
cnt = ACON_TIM_CONT - cnt;
}
if(cnt > ACON_TIM_CONT / 2)
{
cnt = 0;
}
AGV_status.V_left = cnt * PI * (D_MOTOR / 100.0) / CON_ENCODE_CNT / ACON_PID_CONTROL_TIME * 1000; //无方向
AGV_status.encode_left_cnt = tmp;
LEN_right = AGV_status.V_right * ACON_PID_CONTROL_TIME / 1000 * 100;
LEN_left = AGV_status.V_left * ACON_PID_CONTROL_TIME / 1000 * 100;
if(AGV_status.runing_status)
{
Encode_data.Encode_len += (LEN_right + LEN_left) / 2;
Encode_data.Degree_T = (LEN_left - LEN_right) / (PI * 2 * LEN_WHELLS) * 360;
}
else if(AGV_status.rotating_status && RIGHT == AGV_status.AGV_control_p->data.rotating_data.rotating_towards)
{
Encode_data.Degree_T = (LEN_left + LEN_right) / (PI * 2 * LEN_WHELLS) * 360;
}
else if(AGV_status.rotating_status && LEFT == AGV_status.AGV_control_p->data.rotating_data.rotating_towards)
{
Encode_data.Degree_T = (-LEN_left - LEN_right) / (PI * 2 * LEN_WHELLS) * 360;
}
Kalman_process(&Encode_kalman_data);
AGV_status.Direction_Enco += Encode_data.Degree_T_kalman;
if(AGV_status.Direction_Enco < 0)
{
AGV_status.Direction_Enco += 360;
}
else if(AGV_status.Direction_Enco >= 360)
{
AGV_status.Direction_Enco -= 360;
}
Kalman_process(&Gyro_kalman_data);
// Gyroinfo.yaw += Gyrodata.YawRate_kalman * T * 180 / PI;
AGV_status.Direction_Gyro -= Gyrodata.YawRate_kalman * (ACON_PID_CONTROL_TIME / 1000.0) * 180 / PI;
if(AGV_status.Direction_Gyro < 0)
{
AGV_status.Direction_Gyro += 360;
}
else if(AGV_status.Direction_Gyro >= 360)
{
AGV_status.Direction_Gyro -= 360;
}
//if(LEN_UPDATA_WRITING == AGV_status.updata_waitting_status)
//{
switch(AGV_status.runing_towards)
{
case 0:
AGV_status.X_location += (LEN_right + LEN_left) / 2;
break;
case 90:
AGV_status.Y_location += (LEN_right + LEN_left) / 2;
break;
case 180:
AGV_status.X_location -= (LEN_right + LEN_left) / 2;
break;
case 270:
AGV_status.Y_location -= (LEN_right + LEN_left) / 2;
break;
}
//}
}
}
static void AGV_run_control(float len_offset, float degree_offset,float len_dest)
{
float alignment1 = 0,alignment2 = 0;
if(len_dest < ACON_DEST_CONTROL_LEN)
{
AGV_status.updata_waitting_status = LEN_UPDATA_WRITING;
}
if(AGV_status.updata_waitting_status == LEN_UPDATA_WRITING || \
(AGV_status.avoid_obj_warnning_cnt /*&& PALLET_UP == AGV_status.pallet_status*/))
{
if(AGV_status.V_Set > ACON_RUN_SPEED_INIT)
{
AGV_status.V_Set -= ACON_RUN_OR_STOP_ACC * ACON_PID_CONTROL_TIME / 1000.0;
}
}else
{
if(AGV_status.V_Set < ACON_RUN_SPEED)
{
AGV_status.V_Set += ACON_RUN_OR_STOP_ACC * ACON_PID_CONTROL_TIME / 1000.0;
} else
{
AGV_status.V_Set = ACON_RUN_SPEED;
}
}
__disable_irq();
if(AGV_status.avoid_obj_warnning_cnt && \
(/*PALLET_DOWN == AGV_status.pallet_status ||*/AGV_status.V_Set <= ACON_RUN_SPEED_INIT))
{
AGV_stop();
__enable_irq();
return;
}
__enable_irq();
PID_data_V.err_now = AGV_status.V_Set - (AGV_status.V_left + AGV_status.V_right) / 2.0;
PID_data_run.err_now = -(degree_offset + 180 * len_offset / ACON_LEN_QR / PI);
alignment1 = PID_process(&PID_data_V);
alignment2 = PID_process(&PID_data_run);
run_speed_voltage_control += alignment1;
run_degree_voltage_control += alignment2;
/*
if(run_speed_voltage_control > 4.5)
run_speed_voltage_control = 4.5;
else if(run_speed_voltage_control < 0)
run_speed_voltage_control = 0;
*/
motor_voltage_set(LEFT_MOTOR,run_speed_voltage_control + run_degree_voltage_control);
motor_voltage_set(RIGHT_MOTOR,run_speed_voltage_control - run_degree_voltage_control);
if(AGV_status.accident_stop_flag && !AGV_status.avoid_obj_warnning_cnt)
{
AGV_status.accident_stop_flag = 0;
run_speed_voltage_control = 0;
run_degree_voltage_control = 0;
AGV_run();
}
if(len_dest < ACON_DEST_LEN_OFFSET)// && len_dest > -ACON_DEST_LEN_OFFSET)
{
AGV_stop();
Encode_data.Encode_len = 0;
}
}
static void AGV_rotating_control(void)
{
/*
//PID调节左轮速度，使之与右轮相同，若处于举升状态，托盘同步回转
float tmp = 0;
PID_data_rotate.err_now = AGV_status.V_right - AGV_status.V_left;
tmp = PID_process_tmp(&PID_data_rotate);
tmp += AGV_status.V_left;
motor_speed_set(LEFT_MOTOR,tmp);
*/
}
static void init_next_run_control(void)
{
AGV_status.AGV_control_p->available_flag = 0;
AGV_status.AGV_control_p = AGV_status.AGV_control_p->next;
switch(AGV_status.AGV_control_p->data_type)
{
case RUNING_TYPE:
AGV_run();
break;
case STOP_TYPE:
AGV_stop();
break;
case ROTATION_TYPE:
AGV_rotate();
break;
}
}
void AGV_control(void)
{
AGV_control_pre();
Kalman_process(&Degree_kalman_data);
if(AGV_status.runing_status)
{
float degree_offset = 0;
float len_dest = 0;
float len_offset = 0;
switch(AGV_status.runing_towards)
{
case 0:
len_dest = AGV_status.AGV_control_p->data.dest_data.dest_X - AGV_status.X_location; //始终为正
degree_offset = AGV_status.Direction > 180 ? AGV_status.Direction - 360 : AGV_status.Direction; //航向角偏差：向左偏位负，向右偏为正
break;
case 90:
len_dest = AGV_status.AGV_control_p->data.dest_data.dest_Y - AGV_status.Y_location;
degree_offset = AGV_status.Direction - 90;
break;
case 180:
len_dest = AGV_status.X_location - AGV_status.AGV_control_p->data.dest_data.dest_X;
degree_offset = AGV_status.Direction - 180;
break;
case 270:
len_dest = AGV_status.Y_location - AGV_status.AGV_control_p->data.dest_data.dest_Y;
degree_offset = AGV_status.Direction - 270;
break;
}
if(Encode_data.Encode_len > ACON_LEN_QR + ACON_DEST_LEN_OFFSET)
{
AGV_status.X_offset = 0;
Encode_data.Encode_len = 0;
}
len_offset = AGV_status.X_offset; //左偏为负，右偏为正
AGV_run_control(len_offset,degree_offset,len_dest);
}
if(AGV_status.rotating_status)
{
float degree_offset = 0;
AGV_rotating_control();
switch(AGV_status.runing_towards)
{
case 0:
degree_offset = AGV_status.Direction > 180 ? AGV_status.Direction - 360 : AGV_status.Direction;
break;
default:
degree_offset = AGV_status.Direction - AGV_status.runing_towards;
}
if(degree_offset < ACON_DEGREE_OFFSET && degree_offset > -ACON_DEGREE_OFFSET)
{
AGV_stop();
}
}
if(!(AGV_status.rotating_status || AGV_status.runing_status))
{
//停止状态下，下步行动的部署
if(AGV_status.AGV_control_p->next && AGV_status.AGV_control_p->next->available_flag)
{
init_next_run_control();
}
}
__disable_irq();
AGV_status.control_req_cnt--;
__enable_irq();
}
void AGV_state_init(void)
{
float angle_offset = AGV_status.Direction;
if(AGV_status.runing_towards == 0 && angle_offset > 180)
{
angle_offset -= 360;
}
angle_offset -= AGV_status.runing_towards;
AGV_V_set(0.01);
if( angle_offset > 0)
{
if(angle_offset > 0.5)
{
motor_run(LEFT_MOTOR,CCW);
motor_run(RIGHT_MOTOR,CCW);
}
else
{
AGV_status.init_Directon_flag = 1;
}
}
else
{
if(angle_offset < -0.5)
{
motor_run(LEFT_MOTOR,CW);
motor_run(RIGHT_MOTOR,CW);
}
else
{
AGV_status.init_Directon_flag = 1;
}
}
if(AGV_status.init_Directon_flag)
{
motor_stop(LEFT_MOTOR);
motor_stop(RIGHT_MOTOR);
CON_ENCODE_LEFT->CNT = 0;
CON_ENCODE_RIGHT->CNT = 0;
}
}