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new branch for gold miner (RM 2021 工程) #178

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fa2dd11
new branch for gold miner
tccoin May 13, 2021
3fb83dd
更新版本号
tccoin May 22, 2021
44cc3a6
注释机械臂测试代码
tccoin May 22, 2021
e311a5f
更新硬件配置
tccoin May 24, 2021
5e48ba2
new branch for gold miner
tccoin May 13, 2021
715c1e2
调试
odin1777 May 26, 2021
2f9f447
update mdk files
odin1777 May 27, 2021
365f950
更新工程代码
odin1777 May 29, 2021
1af4e7c
更新
odin1777 Jun 2, 2021
d5aa9c9
offline motor will be disabled for 6 seconds
odin1777 Jun 2, 2021
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9 changes: 8 additions & 1 deletion driver/inc/Driver_Motor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ typedef struct {
int16_t speed; // 转子转速值, RPM
float actualCurrent; //电流
int16_t temperature; //温度
uint16_t updatedAt; // 更新电机数据时的tickCount
uint32_t updatedAt; // 更新电机数据时的tickCount
uint8_t online; // 电机是否离线

int8_t angleEnabled; // 连续角度启用
Expand Down Expand Up @@ -67,4 +67,11 @@ void Motor_Update(Motor_Type *motor, uint8_t data[8]);
*/
void Motor_Set_Angle_Bias(Motor_Type *motor, float angleBias);

/**
* @brief 校准连续角度为输入量
*
* @param calibratedAngle 校准角度
*/
void Motor_Calibrate(Motor_Type *motor, float calibratedAngle);

#endif
4 changes: 2 additions & 2 deletions driver/inc/Driver_Protocol.h
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Expand Up @@ -63,8 +63,8 @@ typedef struct {
// 接收相关
uint16_t receive; // 是否接收并解包该协议
uint16_t receiveCount; // 接收计数
uint16_t receiveSeq; // 接收包序号
uint16_t lastReceiveSeq; // (仅供用户使用)上次接收序号
int16_t receiveSeq; // 接收包序号
int16_t lastReceiveSeq; // (仅供用户使用)上次接收序号
TickType_t receiveTime; // 接收时间
// 发送相关
void * node; // 发送节点
Expand Down
17 changes: 14 additions & 3 deletions driver/src/Driver_Motor.c
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Expand Up @@ -7,6 +7,7 @@ void Motor_Init(Motor_Type *motor, float reductionRate, int8_t angleEnabled, int
motor->positionBias = -1; // -1为未赋值状态
motor->angleBias = -1; // -1为未赋值状态
motor->lastPosition = -1; // -1为未赋值状态
motor->online = 1;
motor->reductionRate = reductionRate;
motor->angleEnabled = angleEnabled;
motor->inputEnabled = inputEnabled;
Expand All @@ -18,8 +19,12 @@ void Motor_Update(Motor_Type *motor, uint8_t data[8]) {
int16_t actualCurrent = data[4] << 8 | data[5];
int16_t temperature = data[6];
float angle = 0;
motor->updatedAt = xTaskGetTickCount();
motor->online = 1;
if (motor->online) {
motor->updatedAt = xTaskGetTickCount();
} else if (xTaskGetTickCount() - motor->updatedAt >= 6000) {
motor->updatedAt = xTaskGetTickCount();
motor->online = 1;
}

// 更新转子信息
motor->position = position;
Expand Down Expand Up @@ -47,7 +52,7 @@ void Motor_Update(Motor_Type *motor, uint8_t data[8]) {
if (motor->positionBias != -1) {
motor->angleBias = motor->positionBias / 8192.0f * 360; // 向下兼容
} else {
motor->angleBias = angle; // 将当前位置设为
motor->angleBias = angle; // 将当前位置设为零点
}
motor->angleBiasInit = 1;
}
Expand All @@ -63,3 +68,9 @@ void Motor_Set_Angle_Bias(Motor_Type *motor, float angleBias) {
motor->angleBiasInit = 1;
motor->lastPosition = -1;
}

void Motor_Calibrate(Motor_Type *motor, float calibratedAngle) {
motor->angleBias = motor->angle + motor->angleBias - calibratedAngle;
motor->angle = calibratedAngle;
motor->angleBiasInit = 1;
}
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