p_Intelligent_winding_robot_v2
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zhaohe 2 years ago
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b3fb09f915
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be08897acc
3 changed files with 41 additions and 16 deletions
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  1. 28
      usrc/intelligent_winding_robot_ctrl.cpp
  2. 19
      usrc/intelligent_winding_robot_ctrl.hpp
  3. 10
      usrc/main.cpp

28
usrc/intelligent_winding_robot_ctrl.cpp
View File

@ -234,7 +234,8 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
m22_scissors_move_reset_pos(); m22_scissors_move_reset_pos();
m23_laxian_motor_move_to_reset_pos(); m23_laxian_motor_move_to_reset_pos();
WAIT_MODULES_IDLE(12, 14, 15, 16, 22, 23); WAIT_MODULES_IDLE(12, 14, 15, 16, 22, 23);
m22_scissors_move_idle_pos();
wait_module_idle(22);
/** /**
* @brief 优化复位逻辑，超时复位失败，报警 * @brief 优化复位逻辑，超时复位失败，报警
*/ */
@ -284,8 +285,9 @@ 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_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_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::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 0; }
int32_t IntelligentWindingRobotCtrl::m22_scissors_cut() { return m_dm->motor_rotate_with_torque(22, 1, 4095); }
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::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_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::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); } int32_t IntelligentWindingRobotCtrl::m4_zreset() { m_dm->motor_move_to_zero_backward(4, 450, 300, 2000, 0); }
@ -303,7 +305,10 @@ int32_t IntelligentWindingRobotCtrl::m4_zmove_to(int32_t pos) {
} }
} }
int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, take_bullet_acktion_t take_bullet_acktion, take_bullet_line_acktion_t take_bullet_line_acktion) {
int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, //
take_bullet_acktion_t take_bullet_acktion, //
take_bullet_line_acktion_t take_bullet_line_acktion, //
function<void()> bottomoperation) {
if (take_bullet_line_acktion == kTakeLine) { if (take_bullet_line_acktion == kTakeLine) {
m11_arm_jiaxian_move_to_reset_pos(); m11_arm_jiaxian_move_to_reset_pos();
} else if (take_bullet_line_acktion == kReleaseLine) { } else if (take_bullet_line_acktion == kReleaseLine) {
@ -334,6 +339,11 @@ int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_
m21_arm_hook_claws_reset(); m21_arm_hook_claws_reset();
} }
WAIT_MODULES_IDLE(11, 21); WAIT_MODULES_IDLE(11, 21);
if (bottomoperation) {
bottomoperation();
}
m4_zmove_to(0); m4_zmove_to(0);
WAIT_MODULES_IDLE(4); WAIT_MODULES_IDLE(4);
} }
@ -623,6 +633,16 @@ mini_servo_move_to 6 1850 600 500
m16_xianlajin_move_to_cook_lineend_low_pos(); // m16_xianlajin_move_to_cook_lineend_low_pos(); //
} }
int32_t IntelligentWindingRobotCtrl::step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex) {
/**
* @brief
*
* 1. 夹住线
* 2.
*
*/
}
int32_t IntelligentWindingRobotCtrl::main_shaft_run() { int32_t IntelligentWindingRobotCtrl::main_shaft_run() {
ZLOGI(TAG, "main_shaft_run"); ZLOGI(TAG, "main_shaft_run");
DO(m_dm->motor_rotate_acctime(2, 1, 1000, 10000)); DO(m_dm->motor_rotate_acctime(2, 1, 1000, 10000));

19
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -180,10 +180,11 @@ class IntelligentWindingRobotCtrl {
int32_t m21_arm_hook_claws_reset(); int32_t m21_arm_hook_claws_reset();
int32_t m21_arm_hook_claws_move_to_half_pos(); int32_t m21_arm_hook_claws_move_to_half_pos();
int32_t m21_arm_hook_claws_move_to_full_pos(); int32_t m21_arm_hook_claws_move_to_full_pos();
int32_t m22_scissors_move_reset_pos(); // block
int32_t m22_scissors_cut(); // block
int32_t m23_laxian_motor_move_to_reset_pos(); // block
int32_t m23_laxian_motor_move_to_tight_line_pos(); // block
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(); //
int32_t m4_zreset(); int32_t m4_zreset();
int32_t m4_zmove_to(int32_t pos); int32_t m4_zmove_to(int32_t pos);
@ -192,7 +193,10 @@ class IntelligentWindingRobotCtrl {
int32_t disable_all_module(); int32_t disable_all_module();
int32_t enable_all_module(); int32_t enable_all_module();
int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, take_bullet_acktion_t take_bullet_acktion, take_bullet_line_acktion_t take_bullet_line_acktion);
int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, //
take_bullet_acktion_t take_bullet_acktion, //
take_bullet_line_acktion_t take_bullet_line_acktion, //
function<void()> bottomoperation = nullptr);
int32_t step_take_bullet(int32_t bulletindex); int32_t step_take_bullet(int32_t bulletindex);
int32_t step_take_back_bullet(int32_t bulletindex); int32_t step_take_back_bullet(int32_t bulletindex);
@ -204,8 +208,9 @@ class IntelligentWindingRobotCtrl {
int32_t step_winding_prepare(); int32_t step_winding_prepare();
int32_t step_winding(); int32_t step_winding();
// int32_t step_load_the_bullet_case(); // int32_t step_load_the_bullet_case();
int32_t step_winding_lineend_prepare(int bulletindex); // 绕线头准备
int32_t step_winding_lineend(); // 绕线头
int32_t step_winding_lineend_prepare(int bulletindex); // 绕线头准备
int32_t step_winding_lineend(); // 绕线头
int32_t step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex); // 绕线头
int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // 取弹夹 int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // 取弹夹
int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true); // 取弹夹 int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true); // 取弹夹

10
usrc/main.cpp
View File

@ -66,28 +66,28 @@ static StepMotor45::cfg_t cfg1 = {
.enable_max_pos_limit = false, .enable_max_pos_limit = false,
.mirror = true, .mirror = true,
.zeroPin = PG1,
.zeroPin = PB12,
.ioPollType = ZGPIO::kMode_pullup, .ioPollType = ZGPIO::kMode_pullup,
.zeroPinMirror = true, .zeroPinMirror = true,
.driverPin = {PB15, PD11, PD12, PD13}, .driverPin = {PB15, PD11, PD12, PD13},
.driverPinMirror = true, .driverPinMirror = true,
}; };
static StepMotor45::cfg_t cfg2 = { static StepMotor45::cfg_t cfg2 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = true, .enable_zero_limit = true,
.enable_max_pos_limit = false, .enable_max_pos_limit = false,
.mirror = true, .mirror = true,
.zeroPin = PB13,
.zeroPin = PG1,
.ioPollType = ZGPIO::kMode_pullup, .ioPollType = ZGPIO::kMode_pullup,
.zeroPinMirror = true, .zeroPinMirror = true,
.driverPin = {PG2, PG3, PG4, PG5}, .driverPin = {PG2, PG3, PG4, PG5},
.driverPinMirror = true, .driverPinMirror = true,
}; };
// PB13
#if 0
static StepMotor45::cfg_t cfg3 = { static StepMotor45::cfg_t cfg3 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = true, .enable_zero_limit = true,
@ -101,7 +101,6 @@ static StepMotor45::cfg_t cfg3 = {
.driverPin = {PG6, PG7, PG8, PC6}, .driverPin = {PG6, PG7, PG8, PC6},
.driverPinMirror = true, .driverPinMirror = true,
}; };
#if 0
static StepMotor45::cfg_t cfg4 = { static StepMotor45::cfg_t cfg4 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = false, .enable_zero_limit = false,
@ -188,6 +187,7 @@ void regfn() { script_reg_fn(); }
extern void step_motor_cmd_reg(); extern void step_motor_cmd_reg();
void Main::run() { void Main::run() {
// PB13
/******************************************************************************* /*******************************************************************************
* ϵͳ³õʼ»¯ * * ϵͳ³õʼ»¯ *
*******************************************************************************/ *******************************************************************************/

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