From e38a0252012050f13658c9302518fc7083a86fde Mon Sep 17 00:00:00 2001 From: bmy <2583236812@qq.com> Date: Mon, 20 May 2024 12:10:23 +0800 Subject: [PATCH 1/3] =?UTF-8?q?fix:=20=E4=BF=AE=E5=A4=8D=E4=BD=8D=E7=BD=AE?= =?UTF-8?q?=E8=AE=BE=E7=BD=AE=E6=8C=87=E4=BB=A4=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_motion.c | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/app/by_motion.c b/app/by_motion.c index 45e5826..d808986 100644 --- a/app/by_motion.c +++ b/app/by_motion.c @@ -71,6 +71,7 @@ void by_motion_set_speed_m1(int16_t speed) void by_motion_set_distance(float distance, int16_t speed) { + // TODO 验证距离是否超限 if (motion_busy_flag) { return; } @@ -79,6 +80,8 @@ void by_motion_set_distance(float distance, int16_t speed) speed = -speed; } + position_abs += distance; + if (distance < 0.0f) { by_motion_set_speed_m1(-1 * speed); distance = -distance; @@ -87,13 +90,14 @@ void by_motion_set_distance(float distance, int16_t speed) } motion_busy_flag = 1; - position_abs += distance; - time_via = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s + time_via = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s // lwprintf("time_via = %d\r\n", time_via); + LOGD("position_abs = %f\r\n", position_abs); } void by_motion_set_distance2(float distance, int16_t speed) { + // TODO 验证距离是否超限 if (motion_busy_flag) { return; } @@ -106,7 +110,8 @@ void by_motion_set_distance2(float distance, int16_t speed) distance = -distance; } - distance = position_abs - distance; + distance = distance - position_abs; + position_abs += distance; if (distance < 0.0f) { distance = -distance; @@ -116,8 +121,8 @@ void by_motion_set_distance2(float distance, int16_t speed) } motion_busy_flag = 1; - position_abs += distance; - time_via = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s + time_via = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s + LOGD("position_abs = %f\r\n", position_abs); // lwprintf("time_via = %d\r\n", time_via); } @@ -156,7 +161,7 @@ void by_motion_init(void) DRV_ENABLE(); // 上电回零 - DWT_Delay(3000000); + DWT_Delay(1000000); by_motion_set_speed_m1(-4); while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) { // 等待复位 From cbb2803d81b20679a6769ff38defc1b13feb2a2a Mon Sep 17 00:00:00 2001 From: bmy <2583236812@qq.com> Date: Mon, 20 May 2024 12:20:21 +0800 Subject: [PATCH 2/3] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E5=A4=8D?= =?UTF-8?q?=E4=BD=8D=E5=8A=A8=E4=BD=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_motion.c | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/app/by_motion.c b/app/by_motion.c index d808986..1e68553 100644 --- a/app/by_motion.c +++ b/app/by_motion.c @@ -16,6 +16,7 @@ PID_TypeDef pid_m1; PID_TypeDef pid_m2; uint8_t motion_enable_flag; uint8_t motion_busy_flag; +uint8_t motion_reset_flag; int16_t time_via; float position_abs; @@ -113,6 +114,15 @@ void by_motion_set_distance2(float distance, int16_t speed) distance = distance - position_abs; position_abs += distance; + if (5.0 >= position_abs) { + position_abs = 0; + by_motion_set_speed_m1(-4); + motion_busy_flag = 1; + motion_reset_flag = 1; + LOGD("RESET position_abs = %f\r\n", position_abs); + return; + } + if (distance < 0.0f) { distance = -distance; by_motion_set_speed_m1(-1 * speed); @@ -225,6 +235,15 @@ void by_motion_tmr_handle(void) return; } + if (motion_reset_flag) { + if (!gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) { + motion_reset_flag = 0; + motion_busy_flag = 0; + by_motion_set_speed_m1(0); + } + return; + } + if (time_via > 0) { time_via--; } else { From 11ad46b73d04df12eae8c78c39ee37c55789947d Mon Sep 17 00:00:00 2001 From: bmy <2583236812@qq.com> Date: Thu, 6 Jun 2024 12:23:05 +0800 Subject: [PATCH 3/3] =?UTF-8?q?pref:=20=E6=8F=90=E9=AB=98=E5=A4=8D?= =?UTF-8?q?=E4=BD=8D=E9=80=9F=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_motion.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/app/by_motion.c b/app/by_motion.c index 1e68553..7312a57 100644 --- a/app/by_motion.c +++ b/app/by_motion.c @@ -116,7 +116,7 @@ void by_motion_set_distance2(float distance, int16_t speed) if (5.0 >= position_abs) { position_abs = 0; - by_motion_set_speed_m1(-4); + by_motion_set_speed_m1(-10); motion_busy_flag = 1; motion_reset_flag = 1; LOGD("RESET position_abs = %f\r\n", position_abs); @@ -171,8 +171,7 @@ void by_motion_init(void) DRV_ENABLE(); // 上电回零 - DWT_Delay(1000000); - by_motion_set_speed_m1(-4); + by_motion_set_speed_m1(-10); while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) { // 等待复位 }