update

usrc/intelligent_winding_robot_ctrl.cpp

@@ -39,7 +39,7 @@ class WidthDetector {
   APPDM*                                 m_dm;
 
   int32_t m_bullet_distance        = 33;  // 理论值33,这里取保守值20
-  int32_t m_bullet_full_distance   = 144;
+  int32_t m_bullet_full_distance   = 140;
   int32_t lastDistanceChangeTicket = 0;
 
  public:
@@ -100,15 +100,15 @@ class WidthDetector {
 
   void m14_raoxiantance_move_to_reset() { m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 330, 0); }
   void start_run_back() {
-    m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 330, 0);
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0);
     g_isrunning = true;
   }
   void start_run_forward_slow() {
-    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos , 330, 0);
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 30, 0);
     g_isrunning = true;
   }
   void start_run_forward() {
-    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos , 330, 0);
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0);
     g_isrunning = true;
   }
   void stop_run() {
@@ -123,7 +123,6 @@ class WidthDetector {
 
     int32_t enterticket = zos_get_tick();
 
-
     start_run_forward();
     while (true) {
       if (g_isrunning && getDetectGPIOState() != 0) {
@@ -168,7 +167,7 @@ class WidthDetector {
             start_run_back();
           }
           // ZLOGI(TAG, "%d",getDetectGPIOState());
-          zos_delay(3);
+          zos_delay(1);
         }
       } else {
         while (!m_detect_thread.getExitFlag()) {
@@ -181,7 +180,7 @@ class WidthDetector {
           } else if (!g_isrunning && getDetectGPIOState() == 0) {
             start_run_forward_slow();
           }
-          zos_delay(3);
+          zos_delay(1);
         }
       }
     });
@@ -196,10 +195,10 @@ class WidthDetector {
 
   bool isFull() { return g_nowdpos > m_bullet_full_distance; }
   bool isHasBullet() { return g_nowdpos > 5; }
-  bool isRemoveLineEnd() { return g_nowdpos < m_bullet_distance + 10; }
+  bool isRemoveLineEnd() { return g_nowdpos < m_bullet_distance + 30; }
 
   bool distanceIsStopChange() {
-    if (zos_haspassedms(lastDistanceChangeTicket) > 20 * 1000) {
+    if (zos_haspassedms(lastDistanceChangeTicket) > 10 * 1000) {
       return true;
     }
     return false;
@@ -258,8 +257,8 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
   cfg.m16_xianlajin_reset_pos               = 2000;
   cfg.m16_xianlajin_cook_line_end_ready_pos = 1900;
   cfg.m16_xianlajin_tight_line_pos          = 1966;
-  cfg.m16_xianlajin_winding_low_pos         = 1885;
-  cfg.m16_xianlajin_winding_high_pos        = 1815;
+  cfg.m16_xianlajin_winding_low_pos         = 1875;
+  cfg.m16_xianlajin_winding_high_pos        = 1825;
   // cfg.m16_xianlajin_winding_low_pos         = 1922;
   // cfg.m16_xianlajin_winding_high_pos        = 1863;
   cfg.m16_xianlajin_line_entry_pos         = 1800;
@@ -348,6 +347,8 @@ int32_t IntelligentWindingRobotCtrl::stop_all_module() {
   m_dm->module_stop(22);
   m_dm->module_stop(23);
   stop_probe_bullet_pos();
+
+  m12_jiaxian_move_to_clamp_pos();
 }
 
 int32_t IntelligentWindingRobotCtrl::disable_all_module() {
@@ -368,7 +369,6 @@ int32_t IntelligentWindingRobotCtrl::disable_all_module() {
   m_dm->motor_enable(22, 0);
   m_dm->motor_enable(23, 0);
 
-
   return 0;
 }
 int32_t IntelligentWindingRobotCtrl::enable_all_module() {
@@ -631,6 +631,7 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
     // WAIT_MODULES_IDLE(4);
     m11_arm_jiaxian_move_to_reset_pos();
     WAIT_MODULES_IDLE(11);
+    osDelay(1000);
     m4_zmove_to(0);
     WAIT_MODULES_IDLE(4);
 
@@ -653,7 +654,7 @@ int32_t IntelligentWindingRobotCtrl::step_remove_line() {
   WAIT_MODULES_IDLE(15);
 
   m_dm->motor_rotate_acctime(2, -1, 1000, 1000);
-  #if 0
+#if 0
   int overtime = 30;
 
   for (int i = 0; i < overtime; i++) {
@@ -670,14 +671,13 @@ int32_t IntelligentWindingRobotCtrl::step_remove_line() {
       break;
     }
   }
-  #endif
-  prv_sleep(30 * 1000);
+#endif
+  prv_sleep(60 * 1000);
   m_dm->module_stop(2);
   start_probe_bullet_pos_forward();
   if (!g_widthDetector.isRemoveLineEnd()) {
     throw (int32_t)0;
   }
-  
 
   // m15_paifei_moveto_reset();
   m15_paifei_moveto_reset();
@@ -736,7 +736,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
 int32_t IntelligentWindingRobotCtrl::step_winding() {
   start_probe_bullet_pos();
   m_dm->motor_rotate_acctime(2, 1, 1000, 10000);
-  osDelay(5000);
+  osDelay(2500);
   m23_laxian_motor_move_to_reset_pos();
   m13_yaxian_move_to_reset_backward();
   osDelay(800);
@@ -746,6 +746,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding() {
   for (size_t i = 0; i < 80; i++) {  // TODO:60这里是个常量可能会造成绕线提前释放。
     m16_xianlajin_move_to_winding_low_pos();
     WAIT_MODULES_IDLE(16);
+
     m16_xianlajin_move_to_winding_up_pos();
     WAIT_MODULES_IDLE(16);
     if (g_widthDetector.isFull()) {