p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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update

master
zhaohe 2 years ago
parent
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a48319c7f1
3 changed files with 52 additions and 25 deletions
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  1. 17
      README.md
  2. 59
      usrc/intelligent_winding_robot_ctrl.cpp
  3. 1
      usrc/intelligent_winding_robot_ctrl.hpp

17
README.md
View File

@ -143,14 +143,27 @@ bullet_holder
```
```c
m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) { return step_prepare_remove_line(atoi(paraV[0])); });
m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); });
m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); });
m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });
```
```
step_take_bullet 1
step_prepare_remove_line 1
step_remove_line 1
step_remove_line
step_winding_prepare
step_winding
step_winding_lineend_prepare 1
step_winding_lineend
step_winding_take_bullet_from_cooking_to_origin_pos 1
```

59
usrc/intelligent_winding_robot_ctrl.cpp
View File

@ -54,7 +54,7 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
cfg.m13_yaxian_forward_reset_pos = 1015;
cfg.m13_yaxian_backward_reset_pos = 2885;
cfg.m13_jiaxian_clamp_direction = -1;
cfg.m13_jiaxian_clamp_torque = 200;
cfg.m13_jiaxian_clamp_torque = 500;
cfg.m14_raoxiantance_reset_pos = 2047;
cfg.m14_raoxiantance_tance_zero_pos = 2517;
@ -84,12 +84,12 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
cfg.xy_platform_takeline_pos_y = 7047;
cfg.xy_platform_enter_line_pos_x = 17625;
cfg.xy_platform_enter_line_pos_y = 6851;
cfg.xy_platform_enter_line_pos_y = 6700;
//
cfg.z_axis_cook_bullet_pos = 3377;
cfg.z_axis_take_clip_pos = 6850;
cfg.z_axis_take_line_high = 3400;
cfg.z_axis_transfer_line_high = 2785;
cfg.z_axis_transfer_line_high = 2635;
cfg.m2_zerooff = 1110;
return 0;
@ -108,6 +108,8 @@ void IntelligentWindingRobotCtrl::regcb() {
m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); });
m_cmdparse->regCMD("step_winding_lineend_prepare", "()", 1, [this](PARAM) { return step_winding_lineend_prepare(atoi(paraV[0])); });
m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });
// m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
@ -234,7 +236,7 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
m22_scissors_move_reset_pos();
m23_laxian_motor_move_to_reset_pos();
WAIT_MODULES_IDLE(12, 14, 15, 16, 22, 23);
m22_scissors_move_idle_pos();
m22_scissors_move_reset_pos();
wait_module_idle(22);
/**
* @brief 优化复位逻辑，超时复位失败，报警
@ -285,9 +287,12 @@ int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_low_pos(
int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_full_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_full_pos, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m22_scissors_move_reset_pos() { return m_dm->motor_move_to_zero_backward(22, 0, 0, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m22_scissors_move_idle_pos() { return m_dm->motor_move_to(22, 1250, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m22_scissors_cut() { return m_dm->motor_move_to(22, 1, 2070); }
int32_t IntelligentWindingRobotCtrl::m22_scissors_move_reset_pos() {
m_dm->motor_move_to_zero_backward(22, 0, 0, 0, 0);
WAIT_MODULES_IDLE(22);
m_dm->motor_move_to(22, 1250, 0, 0);
}
int32_t IntelligentWindingRobotCtrl::m22_scissors_cut() { return m_dm->motor_move_to(22, 2070, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m23_laxian_motor_move_to_reset_pos() { return m_dm->motor_move_to_torque(23, 2040, 200, 0); }
int32_t IntelligentWindingRobotCtrl::m23_laxian_motor_move_to_tight_line_pos() { return m_dm->motor_rotate_with_torque(23, -1, 40); }
int32_t IntelligentWindingRobotCtrl::m4_zreset() { m_dm->motor_move_to_zero_backward(4, 450, 300, 2000, 0); }
@ -481,6 +486,7 @@ int32_t IntelligentWindingRobotCtrl::step_remove_line() {
m_dm->module_stop(2);
stop_probe_bullet_pos();
// m15_paifei_moveto_reset();
m15_paifei_moveto_reset();
return 0;
}
@ -535,6 +541,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
int32_t IntelligentWindingRobotCtrl::step_winding() {
m_dm->motor_rotate_acctime(2, 1, 1000, 10000);
osDelay(1000);
m23_laxian_motor_move_to_reset_pos();
for (size_t i = 0; i < 60; i++) {
m16_xianlajin_move_to_winding_low_pos();
WAIT_MODULES_IDLE(16);
@ -557,18 +564,17 @@ int32_t IntelligentWindingRobotCtrl::step_winding_lineend_prepare(int bulletinde
* 3. 移动到CookPos
* 4. 放弹壳
*/
m13_yaxian_move_to_reset_backward();
m_dm->motor_move_to_zero_forward(2, 2, 2, 0, 0);
xymove_to_bullet_pos(bulletindex);
substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBulletCase, kReleaseLine);
xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y);
wait_module_idle(2);
m_dm->motor_move_to_acctime(2, cfg.m2_zerooff, 30, 100);
substep_zaxis_do_bullet_action(kCookPos, kTakeBackBullet, kReleaseLine);
/**
* @TODO:线拉紧舵机，拉紧线?
*/
wait_module_idle(2);
WAIT_MODULES_IDLE(13);
xymove_to_bullet_pos(bulletindex);
substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBulletCase, kReleaseLine);
xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y);
substep_zaxis_do_bullet_action(kCookPos, kTakeBackBullet, kReleaseLine);
return 0;
}
@ -634,13 +640,22 @@ mini_servo_move_to 6 1850 600 500
}
int32_t IntelligentWindingRobotCtrl::step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex) {
/**
* @brief
*
* 1. 夹住线
* 2.
*
*/
m4_zmove_to(0);
WAIT_MODULES_IDLE(4);
xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y);
WAIT_MODULES_IDLE(3);
m12_jiaxian_move_to_clamp_pos();
substep_zaxis_do_bullet_action(kCookPos, kTakeBullet, kTakeLine, [this]() {
m22_scissors_cut();
WAIT_MODULES_IDLE(22);
m22_scissors_move_reset_pos();
});
WAIT_MODULES_IDLE(22);
xymove_to_bullet_pos(bulletindex);
WAIT_MODULES_IDLE(3);
substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBullet, kReleaseLine);
}
int32_t IntelligentWindingRobotCtrl::main_shaft_run() {

1
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -181,7 +181,6 @@ class IntelligentWindingRobotCtrl {
int32_t m21_arm_hook_claws_move_to_half_pos();
int32_t m21_arm_hook_claws_move_to_full_pos();
int32_t m22_scissors_move_reset_pos(); //
int32_t m22_scissors_move_idle_pos(); //
int32_t m22_scissors_cut(); //
int32_t m23_laxian_motor_move_to_reset_pos(); //
int32_t m23_laxian_motor_move_to_tight_line_pos(); //

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