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feat: 增加置物平台接口

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bmy
2024-06-10 16:56:04 +08:00
parent f9a87063d8
commit 1aa5b84322
3 changed files with 46 additions and 15 deletions
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56
app/by_servo.c
View File

@@ -17,11 +17,11 @@ void by_servo_set_claw_arm(int16_t angle)
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
angle = 180;
} else if (angle > 270) {
angle = 270;
}
ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
ch_val = (uint32_t)(((float)angle / 270.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, ch_val);
@@ -36,7 +36,7 @@ void by_servo_set_claw_arm(int16_t angle)
*/
void by_servo_set_claw(int16_t angle)
{
#define PULSE_WIDTH_MIN 1.5f
#define PULSE_WIDTH_MIN 0.5f
#define PULSE_WIDTH_MAX 2.5f
uint32_t ch_val = 0;
@@ -62,18 +62,18 @@ void by_servo_set_claw(int16_t angle)
*/
void by_servo_set_camera(int16_t angle)
{
#define PULSE_WIDTH_MIN 1.5f
#define PULSE_WIDTH_MIN 0.5f
#define PULSE_WIDTH_MAX 2.5f
uint32_t ch_val = 0;
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
angle = 180;
} else if (angle > 270) {
angle = 270;
}
ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
ch_val = (uint32_t)(((float)angle / 270.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_4, ch_val);
@@ -82,13 +82,13 @@ void by_servo_set_camera(int16_t angle)
}
/**
* @brief 设置云台摇臂
* @brief 设置顶端抓取机构
*
* @param angle 角度 (0-180)
*/
void by_servo_set_scoop(int16_t angle)
{
#define PULSE_WIDTH_MIN 1.5f
#define PULSE_WIDTH_MIN 0.5f
#define PULSE_WIDTH_MAX 2.5f
uint32_t ch_val = 0;
@@ -107,13 +107,40 @@ void by_servo_set_scoop(int16_t angle)
#undef PULSE_WIDTH_MAX
}
/**
* @brief 设置置物平台
*
* @param angle 角度 (0-180)
*/
void by_servo_set_storage(int16_t angle)
{
#define PULSE_WIDTH_MIN 0.5f
#define PULSE_WIDTH_MAX 2.5f
uint32_t ch_val = 0;
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
angle = 180;
}
ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_2, ch_val);
#undef PULSE_WIDTH_MIN
#undef PULSE_WIDTH_MAX
}
void by_servo_init(void)
{
// 后续要不全初始化为空值，由主控按顺序初始化
by_servo_set_claw_arm(0);
by_servo_set_claw(0);
by_servo_set_camera(0);
by_servo_set_claw_arm(220); // 36-220
by_servo_set_claw(25); // 25-90
by_servo_set_camera(45);
by_servo_set_scoop(0);
by_servo_set_storage(0);
}
void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
@@ -136,6 +163,9 @@ void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
case 0x00C:
by_servo_set_scoop(angle);
break;
case 0x00D:
by_servo_set_storage(angle);
break;
default:
break;
}

1
app/by_servo.h
View File

@@ -7,6 +7,7 @@ extern void by_servo_set_claw_arm(int16_t angle);
extern void by_servo_set_claw(int16_t angle);
extern void by_servo_set_camera(int16_t angle);
extern void by_servo_set_scoop(int16_t angle);
extern void by_servo_set_storage(int16_t angle);
extern void by_servo_init(void);
extern void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len);