void ZIGB_setting()
{
ZIGB_menu_page();
while((Uc_key_temp = get_key(1)) != 'A')
{
if(Uc_key_temp == '1')
{
Uc_key_temp = 0;
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rReading ZigBee Parameters...");
#endif
ZIGB_read();
ZIGB_menu_page();
}
else if(Uc_key_temp == '2')
{
Uc_key_temp = 0;
ms_delay(1000);
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rWritting ZigBee Parameters...");
#endif
ZIGB_write();
ZIGB_menu_page();
}
}
}
void Main(void)
{
char recvbuf[128];
//调用初始化程序
uart0_no_fifo_poll_init();
while(1)
{
uart0_send_string("输入字符串并按回车");
uart0_get_string(recvbuf);
uart0_send_string("输入的字符为： ");
uart0_send_string(recvbuf);
}
}
void ZIGB_exit_cmd()
{
uart1_send_string("ATCN\r");
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rExit CMD: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rExit CMD: ERROR ");
#endif
ms_delay(10000);
}
}
//夹持器指尖触碰（INT4）中断处理函数
void interrupt_4_handler(void)
{
if(ext_collision_alert_allow_int4)
{
delay(50);
uart0_send_string("zz43");
ext_collision_alert_allow_int4=0;//全局变量
}
}
//定时计数器1中断处理函数
void timer1_interrupt_handler(void)
{
uchar msg_force_array[]="zz21w";
force_ulong=ReadCount();//读取数据放入全局变量
ulong_to_uchar_array(force_ulong);//数据类型转换
msg_force_array[4]=force_high8;
uart0_send_string(msg_force_array);//向上位机发送夹紧力实时数值（仅有效值高八位）
TCNT1=0xC2F6;//需要重新设定周期500ms
}
void sysproc_crt_display(void)
{
msg_envelope_t *msg;
while (1)
{
msg = receive_message(NULL);
uart0_send_string((uint8_t*)msg->data);
free_message(msg);
}
}
void ZIGB_cmd_mode()
{
uart1_send_string("+++");
clrscr();
lcd_line1_disp("CMD Mode",0);
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rCMD: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rCMD: ERROR ");
#endif
ms_delay(10000);
}
}
void ZIGB_ch_wrt(U8 *ch_no)
{
uart1_send_string("ATCH");
uart1_send_string(ch_no);
uart1_send_byte('\r');
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rCH: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rCH: ERROR ");
#endif
ms_delay(10000);
}
}
void ZIGB_my_wrt(U8 *my_add)
{
uart1_send_string("ATMY");
uart1_send_string(my_add);
uart1_send_byte('\r');
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rMY: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rMY: ERROR ");
#endif
ms_delay(10000);
}
}
void ZIGB_pan_wrt(U8 *pan_add)
{
uart1_send_string("ATID");
uart1_send_string(pan_add);
uart1_send_byte('\r');
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rPAN: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rPAN: ERROR ");
#endif
ms_delay(10000);
}
}
void ZIGB_dl_wrt(U8 *dest_add)
{
uart1_send_string("ATDL");
uart1_send_string(dest_add);
uart1_send_byte('\r');
if(ZIGB_responce(3,"OK\r"))
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rDL: OK ");
#endif
ms_delay(10000);
}
else
{
#if RESP_ON_UART0 == 1
uart0_send_string("\n\n\rDL: ERROR ");
#endif
ms_delay(10000);
}
}
void ZIGB_my_read()
{
U8 temp_arr[20]= "000";
U8 temp_cnt;
uart1_send_string("ATMY");
uart1_send_byte('\r');
for(temp_cnt = 0; Uc_zigb_my[temp_cnt - 1] != '\r'; temp_cnt++)
{
while((U1LSR & 0x01) == 0);
Uc_zigb_my[temp_cnt] = U1RBR;
}
Uc_zigb_my[temp_cnt - 1] = '\0';
uart0_send_string("\n\n\rMY Address: ");
uart0_send_string(&Uc_zigb_my[0]);
}
//---------------------------【主函数】↓-----------------------------------------------------------
void main(void)
{
//.....................[函数体内变量声明]...............................
uchar i;//清空指令存储变量时所用循环的计数变量
//向舵机发送移动命令时所用的变量（下面2个）↓
uchar motor_command[9]={0xff,0xff,0x00,0x05,0x03,0x20,0x00,0x00,0x00};//
uchar CHECK;//舵机指令最后一位校验码
//上电手指复位阶段用到的变量（下面2个）↓
//保证舵机停止命令只进行一次
uchar cage_0=1;
uchar cage_1=1;
//正常工作模式（模式一）手指松开阶段用到的变量（下面2个）↓
//保证每次夹紧操作时舵机停止命令只进行一次
uchar approach_0;
uchar approach_1;
//夹紧第二阶段的while循环跳出指示
uchar hold_stage_2_continue=1;
//大循环中查询两端限位和空夹所用到的变量（下面7个）↓
//while大循环从两端限位后开始，因此不允许再次发送舵机停止命令，而是等待限位结束
uchar stop_allow_cage_0=0;
uchar stop_allow_cage_1=0;
//不允许手指向端部移动，允许手指向中间移动，设置四个变量是因为考虑到两端限位跟空夹
uchar release_allow_motor_0=0;
uchar release_allow_motor_1=0;
uchar hold_allow_motor_0=1;
uchar hold_allow_motor_1=1;
//允许上电复位后就开始检测是否空夹
uchar stop_allow_empty=1;
//调试模式手指移动速度，初始值为通过串口设定前的默认值
uchar PARA2=0x10,PARA3=0x01;//保证低速，仅允许通过串口命令更改其值！
//一般模式手指移动速度，仅允从EEPROM中获取数值
uchar com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3;//手指0，Ratio 1
uchar com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3;//手指0，Ratio 2
uchar com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3;//手指0，Ratio 3
uchar com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3;//手指1，Ratio 1
uchar com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3;//手指1，Ratio 2
uchar com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3;//手指1，Ratio 3
uchar msg_eeprom_array[17];//向上位机返回EEPROM中数值
uchar msg_interrupt_array[7]={'z','z','4','4','0','0','0'};//向上位机返回夹持器与外部碰撞报警（中断）允许变量的值
//.......................[初始化配置].........................
uart0_init(19200);//串口0（与上位机通信）初始化，波特率均为19200
uart1_init(19200);//串口1（与舵机通信）初始化，波特率均为19200
timer1_init();//定时计数器1初始化
force_data_init();//应变片读取初始化
//限位的配置
//PE2=接近开关0，高阻态输入
DDRE&=(~BIT(2));//DDRE2=0
PORTE&=(~BIT(2));//PORTE2=0
//PE3=接近开关1，高阻态输入
DDRE&=(~BIT(3));//DDRE2=0
PORTE&=(~BIT(3));//PORTE2=0
//PE5=INT5=限位0，带上拉电阻输入
DDRE&=(~BIT(5));//意思是DDRE5=0，其余位不变。但注意不可按注释的方式写！
PORTE|=BIT(5);//意思是PORTE5=1，其余位不变。但注意不可按注释的方式写！
//PE6=INT6=限位1，带上拉电阻输入
DDRE&=(~BIT(6));
PORTE|=BIT(6);
//PE7=空夹，带上拉电阻输入
DDRE&=(~BIT(7));
PORTE|=BIT(7);
//................[功能：上电后手指复位]....................................
SREG |= 0X80;//打开全局中断
//相关变量初始化
cage0_state=0;
cage1_state=0;
//命令舵机停止转动
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
//使手爪松开
uart1_send_string((uchar*)no0release,9);
delay(50);
uart1_send_string((uchar*)no1release,9);
//等待两端限位触发
while(cage_0|cage_1)
{
if(cage_0)
{
if(!(PINE & BIT(5)))//PE5=0进入
{
delay(50);
if(!(PINE & BIT(5)))
{
uart1_send_string((uchar*)no0stop,9);
//uart0_send_string("zz30");
cage_0=0;
}
}
}
if(cage_1)
{
if(!(PINE & BIT(6)))//PE6=0进入
{
delay(50);
if(!(PINE & BIT(6)))
{
uart1_send_string((uchar*)no1stop,9);
//uart0_send_string("zz31");
cage_1=0;
}
}
}
}
uart0_send_string("zz00");//向上位机报告准备就绪
UCSR0B|=(1<<RXEN0)|(1<<RXCIE0); //UART0接收使能，接收中断使能
//........................[while(1)大循环]............................................
while(1)
{
if(uart0_instr_flag==1)
{
switch(gripper_mood)
{
case 0:
{
if(array_cmp(uart0_instr,"0100")==0)
{
//uart0_send_string(" mood 0: enter 1-regular working mood! ");
gripper_mood=1;
ext_interrupt_init();//外部中断（夹持器与外部环境碰撞）初始化
//初始化后会立即出发一次INT0和INT1，所以报警允许变量需要先置0再置1
//夹持器与外部碰撞报警（中断）允许变量
ext_collision_alert_allow_int0=1;//上侧
ext_collision_alert_allow_int1=1;//下侧
ext_collision_alert_allow_int4=1;//指尖
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
}
if(array_cmp(uart0_instr,"0200")==0)
{
//uart0_send_string(" mood 0: enter 2-configuration mood! ");
gripper_mood=2;
ext_interrupt_init();//外部中断（夹持器与外部环境碰撞）初始化
//初始化后会立即出发一次INT0和INT1，所以报警允许变量需要先置0再置1
//夹持器与外部碰撞报警（中断）允许变量
ext_collision_alert_allow_int0=1;//上侧
ext_collision_alert_allow_int1=1;//下侧
ext_collision_alert_allow_int4=1;//指尖
}
break;
}
case 1:
{
if(array_cmp(uart0_instr,"1000")==0)//调试模式·读取EEPROM中存储的RATIO和力阈值
{
//更新ratio变量值、力阈值和消息数组的值
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
msg_eeprom_array[0]='z';
msg_eeprom_array[1]='z';
msg_eeprom_array[2]='3';
msg_eeprom_array[3]='3';
msg_eeprom_array[4]=com_finger0_ratio_1_PARA2;
msg_eeprom_array[5]=com_finger0_ratio_1_PARA3;
msg_eeprom_array[6]=com_finger0_ratio_2_PARA2;
msg_eeprom_array[7]=com_finger0_ratio_2_PARA3;
msg_eeprom_array[8]=com_finger0_ratio_3_PARA2;
msg_eeprom_array[9]=com_finger0_ratio_3_PARA3;
msg_eeprom_array[10]=com_finger1_ratio_1_PARA2;
msg_eeprom_array[11]=com_finger1_ratio_1_PARA3;
msg_eeprom_array[12]=com_finger1_ratio_2_PARA2;
msg_eeprom_array[13]=com_finger1_ratio_2_PARA3;
msg_eeprom_array[14]=com_finger1_ratio_3_PARA2;
msg_eeprom_array[15]=com_finger1_ratio_3_PARA3;
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
msg_eeprom_array[16]=force_judge;
delay(50);
uart0_send_string_with_num(msg_eeprom_array,17);//上传EEPROM中存储的数值
}
if(array_cmp(uart0_instr,"1100")==0)//松开
{
if(release_allow_motor_0)
{
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_3_PARA2;
motor_command[7]=com_finger0_ratio_3_PARA3+0x04;
CHECK=ratio_command_check(0,com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
}
if(release_allow_motor_1)
{
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_3_PARA2;
motor_command[7]=com_finger1_ratio_3_PARA3+0x04;
CHECK=ratio_command_check(1,com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
}
}
if(array_cmp(uart0_instr,"1200")==0)//夹紧
{
if(hold_allow_motor_0 & hold_allow_motor_1)
{
//第一阶段
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_1_PARA2;
motor_command[7]=com_finger0_ratio_1_PARA3;
CHECK=ratio_command_check(0,com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_1_PARA2;
motor_command[7]=com_finger1_ratio_1_PARA3;
CHECK=ratio_command_check(1,com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
approach_0=1;
approach_1=1;
//等接近开关触发，同时查询检测是否空夹
while((approach_0|approach_1)&&(PINE & BIT(7)))
{
if(approach_0)
{
if(!(PINE & BIT(2)))//PE2=0进入
{
delay(50);
if(!(PINE & BIT(2)))
{
uart1_send_string((uchar*)no0stop,9);
//uart0_send_string(" interrupt 5 ");
approach_0=0;
}
}
}
if(approach_1)
{
if(!(PINE & BIT(3)))//PE3=0进入
{
delay(50);
if(!(PINE & BIT(3)))
{
uart1_send_string((uchar*)no1stop,9);
//uart0_send_string(" interrupt 6 ");
approach_1=0;
}
}
}
}
if(PINE & BIT(7))//不空夹则进行第二阶段
{
//第二阶段
//构造舵机指令
motor_command[2]=0x00;//ID=0
motor_command[6]=com_finger0_ratio_2_PARA2;
motor_command[7]=com_finger0_ratio_2_PARA3;
CHECK=ratio_command_check(0,com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//构造舵机指令
motor_command[2]=0x01;//ID=1
motor_command[6]=com_finger1_ratio_2_PARA2;
motor_command[7]=com_finger1_ratio_2_PARA3;
CHECK=ratio_command_check(1,com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);//下发指令
//等待夹紧力达到阈值并继续判断是否空夹
force_high8=0;
hold_stage_2_continue=1;
while(hold_stage_2_continue && (PINE & BIT(7)))
{
force_ulong=ReadCount();
ulong_to_uchar_array(force_ulong);//目的是获取force_high8
if(force_high8>=force_judge)
{
hold_stage_2_continue=0;//下次循环跳出
//停止舵机运行
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
hold_allow_motor_0=0;//禁止0号手指向端部靠近
hold_allow_motor_1=0;//禁止1号手指向端部靠近
//报告上位机已经夹紧
delay(50);
uart0_send_string("zz10");
delay(50);
uart0_send_string("zz10");
}
}
}
}
}
if(array_cmp(Type(uart0_instr),"13")==0)//设定手指0，Ratio 1
{
com_finger0_ratio_1_PARA2=uart0_instr[2];
com_finger0_ratio_1_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_1(com_finger0_ratio_1_PARA2,com_finger0_ratio_1_PARA3);
}
if(array_cmp(Type(uart0_instr),"14")==0)//设定手指0，Ratio 2
{
com_finger0_ratio_2_PARA2=uart0_instr[2];
com_finger0_ratio_2_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_2(com_finger0_ratio_2_PARA2,com_finger0_ratio_2_PARA3);
}
if(array_cmp(Type(uart0_instr),"15")==0)//设定手指0，Ratio 3
{
com_finger0_ratio_3_PARA2=uart0_instr[2];
com_finger0_ratio_3_PARA3=uart0_instr[3];
command_data_save_finger_0_ratio_3(com_finger0_ratio_3_PARA2,com_finger0_ratio_3_PARA3);
}
if(array_cmp(Type(uart0_instr),"16")==0)//设定手指1，Ratio 1
{
com_finger1_ratio_1_PARA2=uart0_instr[2];
com_finger1_ratio_1_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_1(com_finger1_ratio_1_PARA2,com_finger1_ratio_1_PARA3);
}
if(array_cmp(Type(uart0_instr),"17")==0)//设定手指1，Ratio 2
{
com_finger1_ratio_2_PARA2=uart0_instr[2];
com_finger1_ratio_2_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_2(com_finger1_ratio_2_PARA2,com_finger1_ratio_2_PARA3);
}
if(array_cmp(Type(uart0_instr),"18")==0)//设定手指1，Ratio 3
{
com_finger1_ratio_3_PARA2=uart0_instr[2];
com_finger1_ratio_3_PARA3=uart0_instr[3];
command_data_save_finger_1_ratio_3(com_finger1_ratio_3_PARA2,com_finger1_ratio_3_PARA3);
}
if(array_cmp(Type(uart0_instr),"19")==0)//设定force_judge
{
force_judge=uart0_instr[2];
command_data_save_force_high8(force_judge);
}
break;
}
case 2:
{
if(array_cmp(uart0_instr,"2100")==0)//调试模式·手指0停止
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
uart1_send_string((uchar*)no0stop,9);
}
if(array_cmp(uart0_instr,"2101")==0)//调试模式·手指0松开方向移动
{
if(release_allow_motor_0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x00;//ID=0
motor_command[6]=PARA2;
motor_command[7]=PARA3+0x04;//顺时针，绝对不可在此更改PARA3的值！
CHECK=ratio_command_check(0,PARA2,PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2102")==0)//调试模式·手指0夹紧方向移动
{
if(hold_allow_motor_0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x00;//ID=0
motor_command[6]=PARA2;
motor_command[7]=PARA3;
CHECK=ratio_command_check(0,PARA2,PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2110")==0)//调试模式·手指1停止
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
uart1_send_string((uchar*)no1stop,9);
}
if(array_cmp(uart0_instr,"2111")==0)//调试模式·手指1松开方向移动
{
if(release_allow_motor_1)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x01;//ID=1
motor_command[6]=PARA2;
motor_command[7]=PARA3+0x04;//顺时针，绝对不可在此更改PARA3的值！
CHECK=ratio_command_check(1,PARA2,PARA3+0x04);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(uart0_instr,"2112")==0)//调试模式·手指1夹紧方向移动
{
if(hold_allow_motor_1)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
motor_command[2]=0x01;//ID=1
motor_command[6]=PARA2;
motor_command[7]=PARA3;
CHECK=ratio_command_check(1,PARA2,PARA3);
motor_command[8]=CHECK;
delay(50);
uart1_send_string(motor_command,9);
//delay(50);
//uart0_send_string_with_num(motor_command,9);
TIMSK|=BIT(2);//打开定时计数1中断，向上返回夹持力值
}
}
if(array_cmp(Type(uart0_instr),"22")==0)
{
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart1_send_string((uchar*)no1stop,9);
PARA2=uart0_instr[2];
PARA3=uart0_instr[3];
//delay(50);
//uart0_send_string("ratio changed");
}
if(array_cmp(uart0_instr,"2301")==0)//调试模式·设置手指0速度1(两指相同)夹紧第一阶段
{
command_data_save_finger_0_ratio_1(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-1 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2302")==0)//调试模式·设置手指0速度2(两指相同)夹紧第二阶段
{
command_data_save_finger_0_ratio_2(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-2 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2303")==0)//调试模式·设置手指0速度3(两指相同)松开阶段
{
command_data_save_finger_0_ratio_3(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-0 Ratio-3 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2311")==0)//调试模式·设置手指1速度1(两指相同)夹紧第一阶段
{
command_data_save_finger_1_ratio_1(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-1 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2312")==0)//调试模式·设置手指1速度2(两指相同)夹紧第二阶段
{
command_data_save_finger_1_ratio_2(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-2 Set Successfully! ");
}
if(array_cmp(uart0_instr,"2313")==0)//调试模式·设置手指1速度3(两指相同)松开阶段
{
command_data_save_finger_1_ratio_3(PARA2,PARA3);
//delay(50);
//uart0_send_string(" Finger-1 Ratio-3 Set Successfully! ");
}
if(array_cmp(Type(uart0_instr),"24")==0)//调试模式·设置夹紧力阈值
{
force_judge=uart0_instr[2];
command_data_save_force_high8(force_judge);
//delay(50);
//uart0_send_string(" Force Set Successfully! ");
}
if(array_cmp(uart0_instr,"2500")==0)//调试模式·读取EEPROM中存储的RATIO和力阈值
{
//更新ratio变量值、力阈值和消息数组的值
//获取EEPROM中存储的RATIO值
command_data_read_finger_0_ratio_1(&com_finger0_ratio_1_PARA2,&com_finger0_ratio_1_PARA3);
command_data_read_finger_0_ratio_2(&com_finger0_ratio_2_PARA2,&com_finger0_ratio_2_PARA3);
command_data_read_finger_0_ratio_3(&com_finger0_ratio_3_PARA2,&com_finger0_ratio_3_PARA3);
command_data_read_finger_1_ratio_1(&com_finger1_ratio_1_PARA2,&com_finger1_ratio_1_PARA3);
command_data_read_finger_1_ratio_2(&com_finger1_ratio_2_PARA2,&com_finger1_ratio_2_PARA3);
command_data_read_finger_1_ratio_3(&com_finger1_ratio_3_PARA2,&com_finger1_ratio_3_PARA3);
msg_eeprom_array[0]='z';
msg_eeprom_array[1]='z';
msg_eeprom_array[2]='3';
msg_eeprom_array[3]='3';
msg_eeprom_array[4]=com_finger0_ratio_1_PARA2;
msg_eeprom_array[5]=com_finger0_ratio_1_PARA3;
msg_eeprom_array[6]=com_finger0_ratio_2_PARA2;
msg_eeprom_array[7]=com_finger0_ratio_2_PARA3;
msg_eeprom_array[8]=com_finger0_ratio_3_PARA2;
msg_eeprom_array[9]=com_finger0_ratio_3_PARA3;
msg_eeprom_array[10]=com_finger1_ratio_1_PARA2;
msg_eeprom_array[11]=com_finger1_ratio_1_PARA3;
msg_eeprom_array[12]=com_finger1_ratio_2_PARA2;
msg_eeprom_array[13]=com_finger1_ratio_2_PARA3;
msg_eeprom_array[14]=com_finger1_ratio_3_PARA2;
msg_eeprom_array[15]=com_finger1_ratio_3_PARA3;
//获取EEPROM中存储的夹紧力阈值有效值高八位
command_data_read_force_high8(&force_judge);
msg_eeprom_array[16]=force_judge;
delay(50);
uart0_send_string_with_num(msg_eeprom_array,17);//上传EEPROM中存储的数值
}
break;
}
default:break;
}
if(array_cmp(uart0_instr,"3100")==0)//恢复触碰报警 ext interrupt 0
{
ext_collision_alert_allow_int0=1;//上侧
}
if(array_cmp(uart0_instr,"3200")==0)//恢复触碰报警 ext interrupt 1
{
ext_collision_alert_allow_int1=1;//下侧
}
if(array_cmp(uart0_instr,"3300")==0)//恢复触碰报警 ext interrupt 4
{
ext_collision_alert_allow_int4=1;//指尖
}
if(array_cmp(uart0_instr,"3400")==0)//读取报警允许变量的状态
{
msg_interrupt_array[4]=ext_collision_alert_allow_int0;
msg_interrupt_array[5]=ext_collision_alert_allow_int1;
msg_interrupt_array[6]=ext_collision_alert_allow_int4;
uart0_send_string_with_num(msg_interrupt_array,7);
}
/*末尾应完成命令执行后的还原工作A-D*/
uart0_instr_flag=0; //A.命令接收标志位置0
uart0_r_instr_chk=0;//B.命令构造字符数计数置0
for(i=0;i<12;i++)//C.命令清除
{
uart0_instr[i]=0;
}
UCSR0B|=BIT(RXCIE0);//D.恢复UART0的接收中断
}
/*
【偏向撞击保护的编程】
（1）一旦手指碰撞到限位开关产生低电平，哪怕是抖动、不稳定的低电平，
也要禁止手指继续向碰撞位置移动，此时不需要延迟防抖的处理；
（2）只有当手指真正完全地离开了碰撞地点，限位开关IO成为稳定的高电平，
才允许手指再次向碰撞的方向移动。
*/
if(!(PINE & BIT(5)))//检测手指0是否复位
{
if(stop_allow_cage_0)
{
release_allow_motor_0=0;//禁止1号手指向端部靠近
hold_allow_motor_0=1;//允许1号手指向中间靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart0_send_string("zz30");
delay(50);
uart0_send_string("zz30");
stop_allow_cage_0=0;
}
}
else
{
if(!stop_allow_cage_0)
{
delay(500);
if(PINE & BIT(5))
{
release_allow_motor_0=1;//允许1号手指向端部靠近
stop_allow_cage_0=1;
}
}
}
if(!(PINE & BIT(6)))//检测手指1是否复位
{
if(stop_allow_cage_1)
{
release_allow_motor_1=0;//禁止1号手指向端部靠近
hold_allow_motor_1=1;//允许1号手指向中间靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
uart0_send_string("zz31");
delay(50);
uart0_send_string("zz31");
stop_allow_cage_1=0;
}
}
else
{
if(!stop_allow_cage_1)
{
delay(500);
if(PINE & BIT(6))
{
release_allow_motor_1=1;//允许1号手指向端部靠近
stop_allow_cage_1=1;
}
}
}
if(!(PINE & BIT(7)))//检测是否空夹
{
if(stop_allow_empty)
{
hold_allow_motor_0=0;//禁止0号手指向端部靠近
hold_allow_motor_1=0;//禁止1号手指向端部靠近
TIMSK&=(~BIT(2));//屏蔽定时计数1中断，停止向上返回夹持力值
delay(50);
uart1_send_string((uchar*)no1stop,9);
delay(50);
uart1_send_string((uchar*)no0stop,9);
delay(50);
uart0_send_string("zz32");
delay(50);
uart0_send_string("zz32");
stop_allow_empty=0;
}
}
else
{
if(!stop_allow_empty)
{
delay(500);
if(PINE & BIT(7))
{
hold_allow_motor_0=1;//允许0号手指向中间靠近
hold_allow_motor_1=1;//允许1号手指向中间靠近
stop_allow_empty=1;
}
}
}
}
}