release v0.9
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@@ -12,6 +12,7 @@
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#include "freertos/task.h"
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#include "esp_log.h"
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#include <math.h>
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#include <string.h>
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static const char *TAG = "ACTUATOR";
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@@ -23,8 +24,16 @@ static float s_scale_x = ACTUATOR_SCALE_X;
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static float s_scale_y = ACTUATOR_SCALE_Y;
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static float s_scale_angle = ACTUATOR_SCALE_ANGLE;
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/* Z 旋转轴心 → 工具末端 偏移补偿 (mm) */
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static float s_offset_x_mm = ACTUATOR_OFFSET_X_MM;
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static float s_offset_y_mm = ACTUATOR_OFFSET_Y_MM;
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static bool s_initialized = false;
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/* 最近一次执行的 Cycle 快照 */
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static edc_cycle_t s_last_cycle;
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static bool s_last_cycle_valid = false;
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/* ================================================================
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* 内部: 帧间间隔
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*
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@@ -103,6 +112,67 @@ void actuator_set_scale(float x_scale, float y_scale, float angle_scale)
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s_scale_x, s_scale_y, s_scale_angle);
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}
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/* ================================================================
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* Z 旋转轴心 ↔ 工具末端 偏移补偿
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*
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* 终端执行机构与 Z 旋转机构不在同一条纵轴上,
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* 旋转角度 θ 时, 工具末端 XY 位置 = 旋转中心 + R(θ)·(dx, dy)
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*
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* 要将工具末端放到 target 位置, 旋转中心需要去:
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* center = target - R(θ)·(dx, dy)
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*
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* 即:
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* X_motor = X_tgt - (dx·cosθ - dy·sinθ)
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* Y_motor = Y_tgt - (dx·sinθ + dy·cosθ)
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* ================================================================ */
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void actuator_set_offset(float offset_x_mm, float offset_y_mm)
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{
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s_offset_x_mm = offset_x_mm;
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s_offset_y_mm = offset_y_mm;
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ESP_LOGI(TAG, "偏移补偿: dx=%.2fmm dy=%.2fmm", (double)offset_x_mm, (double)offset_y_mm);
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}
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void actuator_get_offset(float *offset_x_mm, float *offset_y_mm)
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{
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if (offset_x_mm) *offset_x_mm = s_offset_x_mm;
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if (offset_y_mm) *offset_y_mm = s_offset_y_mm;
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}
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void actuator_apply_offset_compensation(uint16_t *target_x, uint16_t *target_y,
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float angle_deg)
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{
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if (!target_x || !target_y) return;
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/* 偏移量为零时跳过, 避免浮点运算 */
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if (s_offset_x_mm == 0.0f && s_offset_y_mm == 0.0f) return;
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float theta_rad = angle_deg * (float)(M_PI / 180.0);
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float cos_t = cosf(theta_rad);
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float sin_t = sinf(theta_rad);
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/* R(θ)·(dx, dy): 旋转后的偏移向量 */
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float rot_dx = s_offset_x_mm * cos_t - s_offset_y_mm * sin_t;
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float rot_dy = s_offset_x_mm * sin_t + s_offset_y_mm * cos_t;
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/* center = target - rotated_offset, 四舍五入 */
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float cx = (float)(*target_x) - rot_dx;
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float cy = (float)(*target_y) - rot_dy;
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/* 钳位到有效范围并写回 */
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if (cx < 0.0f) cx = 0.0f;
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if (cy < 0.0f) cy = 0.0f;
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*target_x = (uint16_t)(cx + 0.5f);
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*target_y = (uint16_t)(cy + 0.5f);
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ESP_LOGD(TAG, "补偿: (%.1f°) offset(%.2f,%.2f)→rot(%.2f,%.2f) "
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"tgt→ctr (%u,%u)",
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(double)angle_deg,
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(double)s_offset_x_mm, (double)s_offset_y_mm,
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(double)rot_dx, (double)rot_dy,
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*target_x, *target_y);
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}
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/* ================================================================
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* 内部: 单轴绝对位置运动
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* ================================================================ */
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@@ -148,77 +218,83 @@ static void _actuator_move_fragment(const edc_fragment_t *frag)
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uint16_t vel_angle = 50;
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uint8_t acc_angle = 100;
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/* ---- 提取 source / target 坐标 (可被补偿修改) ---- */
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uint16_t src_x = frag->source.x;
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uint16_t src_y = frag->source.y;
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uint16_t src_angle = frag->source.angle_x10;
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uint16_t tgt_x = frag->target.x;
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uint16_t tgt_y = frag->target.y;
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uint16_t tgt_angle = frag->target.angle_x10;
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/* Z 旋转轴心偏移补偿 (仅对 target 做) */
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float tgt_angle_deg = (float)tgt_angle * 0.1f;
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actuator_apply_offset_compensation(&tgt_x, &tgt_y, tgt_angle_deg);
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/* source 坐标 → 脉冲数 */
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uint32_t src_pulses_x = (uint32_t)(frag->source.x * s_scale_x);
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uint32_t src_pulses_y = (uint32_t)(frag->source.y * s_scale_y);
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uint32_t src_pulses_angle = (uint32_t)(frag->source.angle_x10 * s_scale_angle);
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uint32_t src_pulses_x = (uint32_t)(src_x * s_scale_x);
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uint32_t src_pulses_y = (uint32_t)(src_y * s_scale_y);
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uint32_t src_pulses_angle = (uint32_t)(src_angle * s_scale_angle);
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/* target 坐标 → 脉冲数 */
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uint32_t dst_pulses_x = (uint32_t)(frag->target.x * s_scale_x);
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uint32_t dst_pulses_y = (uint32_t)(frag->target.y * s_scale_y);
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uint32_t dst_pulses_angle = (uint32_t)(frag->target.angle_x10 * s_scale_angle);
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uint32_t dst_pulses_x = (uint32_t)(tgt_x * s_scale_x);
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uint32_t dst_pulses_y = (uint32_t)(tgt_y * s_scale_y);
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uint32_t dst_pulses_angle = (uint32_t)(tgt_angle * s_scale_angle);
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ESP_LOGI(TAG, "Fragment: SRC(X=%lu Y=%lu A=%lu) → DST(X=%lu Y=%lu A=%lu)",
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ESP_LOGI(TAG, "Fragment: SRC(X=%lu Y=%lu A=%lu) -> DST(X=%lu Y=%lu A=%lu comp x=%u y=%u)",
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src_pulses_x, src_pulses_y, src_pulses_angle,
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dst_pulses_x, dst_pulses_y, dst_pulses_angle);
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dst_pulses_x, dst_pulses_y, dst_pulses_angle,
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tgt_x, tgt_y);
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/* ---- 1. 磁铁掉电 ---- */
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magnet_set(false);
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/* ---- 2. 运动到 source 位置 ---- */
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/* Angle / Z 旋转轴 */
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_actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE,
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src_pulses_angle, vel_angle, acc_angle, false);
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_frame_gap();
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/* X 轴 */
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_actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
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src_pulses_x, vel_xy, acc_xy, false);
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_frame_gap();
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/* Y 轴 (双电机同步) */
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_actuator_move_y_sync(src_pulses_y, vel_xy, acc_xy);
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/* ---- 3. 等待 2s 运动到位 (红灯快闪) ---- */
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_wait_flash(2000, 128, 0, 0, 200);
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/* ---- 3. 等待 4s 运动到位 (红灯快闪) ---- */
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_wait_flash(4000, 128, 0, 0, 200);
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/* ---- 4. 舵机放下 ---- */
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servo_set_down();
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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/* ---- 5. 磁铁吸合 ---- */
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magnet_set(true);
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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/* ---- 6. 舵机抬起 ---- */
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servo_set_up();
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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/* ---- 7. 运动到 target 位置 ---- */
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_actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE,
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dst_pulses_angle, vel_angle, acc_angle, false);
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_frame_gap();
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_actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
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dst_pulses_x, vel_xy, acc_xy, false);
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_frame_gap();
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_actuator_move_y_sync(dst_pulses_y, vel_xy, acc_xy);
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/* ---- 8. 等待 2s 运动到位 (红灯快闪) ---- */
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_wait_flash(2000, 128, 0, 0, 200);
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/* ---- 8. 等待 4s 运动到位 (红灯快闪) ---- */
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_wait_flash(4000, 128, 0, 0, 200);
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/* ---- 9. 舵机放下 ---- */
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servo_set_down();
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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/* ---- 10. 磁铁掉电 ---- */
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magnet_set(false);
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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/* ---- 11. 舵机抬起 ---- */
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servo_set_up();
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_wait_flash(500, 128, 0, 0, 200);
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_wait_flash(1000, 128, 0, 0, 200);
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}
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/* ================================================================
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@@ -241,6 +317,10 @@ int actuator_execute_cycle(const edc_cycle_t *cycle)
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return -1;
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}
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/* 保存快照 (执行前先存, 即使执行中也可查询) */
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memcpy(&s_last_cycle, cycle, sizeof(edc_cycle_t));
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s_last_cycle_valid = true;
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ESP_LOGI(TAG, "=== Cycle #%u 开始 (%u fragments) ===",
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cycle->cycle_id, cycle->frag_count);
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@@ -253,6 +333,37 @@ int actuator_execute_cycle(const edc_cycle_t *cycle)
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return 0;
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}
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/* ================================================================
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* 协议回调: 收到 Cycle → 执行 → DONE
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* ================================================================ */
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void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
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{
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static uint16_t s_last_exec_id = 0xFFFF;
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ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
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cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
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cycle->frag_count);
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/* I2C / UART 冗余下发, 同一 cycle_id 只执行一次 */
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if (cycle->cycle_id == s_last_exec_id) {
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ESP_LOGD(TAG, "Cycle #%u 重复, 跳过执行", cycle->cycle_id);
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return;
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}
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s_last_exec_id = cycle->cycle_id;
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/* 执行电机运动 (阻塞, 含拾放全流程) */
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ESP_LOGI(TAG, "开始执行 Cycle #%u ...", cycle->cycle_id);
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actuator_execute_cycle(cycle);
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/* 全部 Fragment 执行完成后回复 DONE */
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edc_proto_send_done(cycle->cycle_id);
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ESP_LOGI(TAG, "Cycle #%u 执行完毕, DONE 已发送", cycle->cycle_id);
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/* 设置 RGB 状态为 DONE, 主循环将持续绿灯慢闪 */
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rgb_set_state(RGB_STATE_DONE);
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}
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/* ================================================================
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* 急停
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* ================================================================ */
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@@ -429,13 +540,9 @@ void actuator_motor_stop(uint8_t addr)
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}
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/* ================================================================
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* 协议回调: 收到 Cycle → 执行 → DONE
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* 最近 Cycle 快照查询
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* ================================================================ */
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static edc_cycle_t s_last_cycle;
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static bool s_last_cycle_valid;
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static portMUX_TYPE s_cycle_lock = portMUX_INITIALIZER_UNLOCKED;
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const edc_cycle_t *actuator_get_last_cycle(void)
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{
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return s_last_cycle_valid ? &s_last_cycle : NULL;
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@@ -446,35 +553,7 @@ bool actuator_is_last_cycle_valid(void)
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return s_last_cycle_valid;
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}
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void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
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void actuator_clear_last_cycle(void)
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{
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static uint16_t s_last_exec_id = 0xFFFF;
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/* 保存快照 */
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portENTER_CRITICAL(&s_cycle_lock);
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memcpy(&s_last_cycle, cycle, sizeof(edc_cycle_t));
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s_last_cycle_valid = true;
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portEXIT_CRITICAL(&s_cycle_lock);
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ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
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cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
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cycle->frag_count);
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/* I2C / UART 冗余下发, 同一 cycle_id 只执行一次 */
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if (cycle->cycle_id == s_last_exec_id) {
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ESP_LOGD(TAG, "Cycle #%u 重复, 跳过执行", cycle->cycle_id);
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return;
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}
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s_last_exec_id = cycle->cycle_id;
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/* 执行电机运动 (阻塞, 含拾放全流程) */
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ESP_LOGI(TAG, "开始执行 Cycle #%u ...", cycle->cycle_id);
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actuator_execute_cycle(cycle);
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/* 全部 Fragment 执行完成后回复 DONE */
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edc_proto_send_done(cycle->cycle_id);
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ESP_LOGI(TAG, "Cycle #%u 执行完毕, DONE 已发送", cycle->cycle_id);
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/* 设置 RGB 状态为 DONE, 主循环将持续绿灯慢闪 */
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rgb_set_state(RGB_STATE_DONE);
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s_last_cycle_valid = false;
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}
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@@ -118,6 +118,26 @@ extern "C" {
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/** 控制模式: 2 = 闭环位置模式 */
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#define ACTUATOR_CTRL_MODE 2
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/* ================================================================
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* Z 旋转轴心 ↔ 工具末端 偏移补偿
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*
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* 终端执行机构 (工具末端) 与 Z 旋转机构不在同一条纵轴上,
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* 旋转角度 θ 时, 工具末端的 XY 位置会绕旋转中心偏移。
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*
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* 补偿公式 (将工具末端定位到 target):
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* X_motor = X_tgt - (dx * cosθ - dy * sinθ)
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* Y_motor = Y_tgt - (dx * sinθ + dy * cosθ)
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*
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* dx, dy 为工具末端相对于 Z 旋转中心的 XY 偏移 (mm),
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* 待机械测量后填入。
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* ================================================================ */
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#ifndef ACTUATOR_OFFSET_X_MM
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#define ACTUATOR_OFFSET_X_MM 8.0f /* angle=0° 时工具末端偏右 ~8mm */
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#endif
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#ifndef ACTUATOR_OFFSET_Y_MM
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#define ACTUATOR_OFFSET_Y_MM -30.0f /* angle=0° 时工具末端偏上 ~30mm */
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#endif
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/**
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* XY 平面左上零点坐标系 运动方向:
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* X 轴正向 (→): CW (dir=0) ── 电机2
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@@ -146,6 +166,32 @@ void actuator_init(void);
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*/
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void actuator_set_scale(float x_scale, float y_scale, float angle_scale);
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/**
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* @brief 设置 Z 旋转轴心 ↔ 工具末端 XY 偏移量 (mm)
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* @param offset_x_mm 工具末端相对于旋转中心的 X 偏移 (mm)
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* @param offset_y_mm 工具末端相对于旋转中心的 Y 偏移 (mm)
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* @note 补偿会在每次 fragment 执行时自动应用;
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* 未调用时默认使用 ACTUATOR_OFFSET_X_MM / ACTUATOR_OFFSET_Y_MM
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*/
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void actuator_set_offset(float offset_x_mm, float offset_y_mm);
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/**
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* @brief 获取当前 XY 偏移量
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* @param offset_x_mm [out] X 偏移 (mm), 可为 NULL
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* @param offset_y_mm [out] Y 偏移 (mm), 可为 NULL
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*/
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void actuator_get_offset(float *offset_x_mm, float *offset_y_mm);
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/**
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* @brief 对目标坐标应用 Z 旋转偏移补偿
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* @param target_x [in/out] 目标 X 坐标 (mm)
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* @param target_y [in/out] 目标 Y 坐标 (mm)
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* @param angle_deg 当前旋转角度 (度)
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* @note 内部使用, 也可由上层在手动模式调用
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*/
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void actuator_apply_offset_compensation(uint16_t *target_x, uint16_t *target_y,
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float angle_deg);
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/**
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* @brief 执行一个完整 Cycle (遍历所有 Fragment, 逐段运动)
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* @param cycle 协议下发的 Cycle 数据
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@@ -241,6 +287,12 @@ const edc_cycle_t *actuator_get_last_cycle(void);
|
||||
* @brief 最近 Cycle 是否有效
|
||||
*/
|
||||
bool actuator_is_last_cycle_valid(void);
|
||||
|
||||
/**
|
||||
* @brief 清除最近 Cycle 记录 (用于等待新 Cycle)
|
||||
*/
|
||||
void actuator_clear_last_cycle(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
idf_component_register(SRCS "key.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES esp_driver_gpio driver freertos)
|
||||
@@ -0,0 +1,31 @@
|
||||
/**
|
||||
* @file key.c
|
||||
* @brief 单 GPIO 按键控制实现 (低电平有效, 软件消抖)
|
||||
*/
|
||||
|
||||
#include "key.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
static int s_gpio = -1;
|
||||
|
||||
void key_init(int gpio)
|
||||
{
|
||||
s_gpio = gpio;
|
||||
|
||||
gpio_reset_pin(s_gpio);
|
||||
gpio_set_direction(s_gpio, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(s_gpio, GPIO_PULLUP_ONLY);
|
||||
}
|
||||
|
||||
bool key_is_pressed(void)
|
||||
{
|
||||
if (s_gpio < 0) return false;
|
||||
|
||||
/* 低电平有效 + 简单消抖: 连续两次读到低电平才算按下 */
|
||||
if (gpio_get_level(s_gpio) == 0) {
|
||||
vTaskDelay(pdMS_TO_TICKS(20));
|
||||
return (gpio_get_level(s_gpio) == 0);
|
||||
}
|
||||
return false;
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
/**
|
||||
* @file key.h
|
||||
* @brief 单 GPIO 按键控制 (低电平有效, 软件消抖)
|
||||
*/
|
||||
|
||||
#ifndef KEY_H
|
||||
#define KEY_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include "driver/gpio.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 初始化按键 (内部上拉, 低电平有效)
|
||||
* @param gpio GPIO 引脚号, 如 GPIO_NUM_8
|
||||
*/
|
||||
void key_init(int gpio);
|
||||
|
||||
/**
|
||||
* @brief 读取按键状态 (已消抖)
|
||||
* @return true=按下, false=释放
|
||||
*/
|
||||
bool key_is_pressed(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* KEY_H */
|
||||
@@ -452,6 +452,14 @@ void edc_proto_send_request(void)
|
||||
ESP_LOGI(TAG, "REQUEST sent");
|
||||
}
|
||||
|
||||
void edc_proto_send_recognize(void)
|
||||
{
|
||||
if (!s_uart_enabled) return;
|
||||
uart_send_frame(EDC_CMD_RECOGNIZE, NULL, 0);
|
||||
s_stat.request_sent++;
|
||||
ESP_LOGI(TAG, "RECOGNIZE sent");
|
||||
}
|
||||
|
||||
/* ================================================================
|
||||
* 统计
|
||||
* ================================================================ */
|
||||
|
||||
@@ -76,6 +76,7 @@ typedef enum {
|
||||
EDC_CMD_CYCLE_DATA = 0x01, /* MPU → MCU: 下发 Cycle 数据 */
|
||||
EDC_CMD_CYCLE_DONE = 0x02, /* MCU → MPU: Cycle 执行完成 */
|
||||
EDC_CMD_CYCLE_REQUEST = 0x03, /* MCU → MPU: 请求下一个 Cycle */
|
||||
EDC_CMD_RECOGNIZE = 0x04, /* MCU → MPU: 触发视觉识别 */
|
||||
EDC_CMD_ACK = 0x80, /* 通用应答 */
|
||||
EDC_CMD_NACK = 0xFF, /* 错误 */
|
||||
} edc_cmd_t;
|
||||
@@ -209,6 +210,11 @@ void edc_proto_send_done(uint16_t cycle_id);
|
||||
*/
|
||||
void edc_proto_send_request(void);
|
||||
|
||||
/**
|
||||
* @brief 发送 RECOGNIZE 触发视觉识别 (通过 UART)
|
||||
*/
|
||||
void edc_proto_send_recognize(void);
|
||||
|
||||
/**
|
||||
* @brief 获取统计信息
|
||||
*/
|
||||
|
||||
@@ -1,3 +1,6 @@
|
||||
idf_component_register(SRCS "web_ctrl.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES emm_v5 magnet servo rgb esp_http_server esp_wifi nvs_flash protocol actuator)
|
||||
|
||||
# 调试开关: 启用 WiFi + Web 服务器
|
||||
target_compile_definitions(${COMPONENT_LIB} PRIVATE EDC_DEBUG_WEB)
|
||||
@@ -181,6 +181,7 @@ button:active{opacity:.7}
|
||||
<button class="btn-go" onclick="apiEach('angle','ag_addr','&angle='+v('ag_angle')+'&vel='+v('ag_vel')+'&acc='+v('ag_acc')+'&raf='+v('ag_raf'))">转到角度</button>
|
||||
<button class="btn-stop" onclick="apiEach('stop','ag_addr','')">停止</button>
|
||||
</div>
|
||||
<button class="btn-off btn-block" onclick="apiEach('reset_pos','ag_addr','')">当前位置清零</button>
|
||||
</div>
|
||||
|
||||
<div class="card">
|
||||
|
||||
Reference in new issue
Block a user