1020 lines
42 KiB
C
1020 lines
42 KiB
C
/**
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* @file actuator.c
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* @brief 执行器应用层封装实现
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*/
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#include "actuator.h"
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#include "emm_v5.h"
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#include "servo.h"
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#include "magnet.h"
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#include "rgb.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "esp_timer.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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/* ================================================================
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* 运行时状态
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* ================================================================ */
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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 轴当前命令位置 (度, 绝对), 初始与驱动零位一致; 用于行程内选近路 */
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static float s_cur_angle_deg = 0.0f;
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/* X/Y 当前绝对位置跟踪 (脉冲, 原点=0): 用于按“当前→目标”真实行程
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计算到位掩码与超时基准, 而不是按绝对坐标 (原点) 估算 */
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static uint32_t s_cur_x_pulses = 0;
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static uint32_t s_cur_y_pulses = 0;
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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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* Emm_V5 驱动板无法解析 UART 上零间隔的背靠背连续帧 (会丢字节,
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* 导致本帧与后续帧全部失效), 凡连发多帧必须插入该延时。
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* 曾导致故障: Y 轴 3/4 号电机使能 (单帧) 正常, 速度/位置 (连发多帧) 无反应
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* ================================================================ */
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static inline void _frame_gap(void)
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{
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vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAME_GAP_MS));
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}
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/* 内部: 带 RGB 闪烁的延时 (周期 ms, 亮灭各半; 精确到系统 tick) */
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static void _wait_flash(uint32_t ms, uint8_t r, uint8_t g, uint8_t b, uint32_t period_ms)
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{
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TickType_t total = pdMS_TO_TICKS(ms);
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TickType_t half = pdMS_TO_TICKS(period_ms / 2);
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if (half == 0) half = 1;
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bool led_on = true;
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while (total > 0) {
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TickType_t chunk = (total > half) ? half : total;
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if (led_on) rgb_set(r, g, b);
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else rgb_off();
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vTaskDelay(chunk);
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total -= chunk;
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led_on = !led_on;
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}
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rgb_off();
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}
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/* 到位等待 (事件驱动 + 预估时间兜底)
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*
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* 电机驱动 Response 菜单已设为 Reached: 位置模式 (0xFD) 命令运动到位后
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* 会主动回传到位帧 (地址 + FD + 9F + 6B)。UART RX 由 emm_v5 内部任务
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* 中断读取并解析, 置位对应到位位; 这里事件等待全部到位, 不再轮询
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* S_TPOS/S_CPOS, 从根本上避免"前一个动作没到位、下一个动作就执行"。
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*
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* 兜底: 同时按曲线加减速估算纯运动时间 (base_wait_ms), 超时 = 估算
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* + ACTUATOR_SETTLE_MARGIN_MS; 若超过预估过多 (到位帧丢失/电机异常)
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* 仍未到位, 打印告警并返回 false, 上层继续执行后续动作, 不卡死。
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*
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* 等待期间红灯快闪反馈 "运动中/未到位"。
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*
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* @param base_wait_ms 纯运动时间估算 (兜底超时基准)
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* @param moved_mask 实际有行程的电机位掩码 (bit0=Z, bit1=X, bit2/3=Y1/Y2)
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* @return true=全部到位, false=超时 (调用方应继续后续动作)
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*/
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bool actuator_wait_arrival(uint32_t base_wait_ms, uint32_t moved_mask)
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{
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const uint8_t addrs[4] = {
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ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
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ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2
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};
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uint8_t wait_addrs[4];
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uint8_t wait_count = 0;
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for (int i = 0; i < 4; i++) {
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if (moved_mask & (1u << i))
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wait_addrs[wait_count++] = addrs[i];
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}
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if (wait_count == 0)
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return true; /* 无行程: 视为已到位 */
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/* 兜底超时 = 预估纯运动时间 + 裕量 */
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uint32_t timeout_ms = base_wait_ms + ACTUATOR_SETTLE_MARGIN_MS;
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int64_t start = esp_timer_get_time();
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int64_t deadline = start + (int64_t)timeout_ms * 1000;
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ESP_LOGI(TAG, "等待到位: mask=0x%02X (%u 轴: %u/%u/%u/%u), 超时=%u ms (预估 %u + 裕量 %u)",
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moved_mask, wait_count,
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wait_addrs[0], wait_count > 1 ? wait_addrs[1] : 0,
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wait_count > 2 ? wait_addrs[2] : 0, wait_count > 3 ? wait_addrs[3] : 0,
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timeout_ms, base_wait_ms, ACTUATOR_SETTLE_MARGIN_MS);
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bool ok = false;
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while (1) {
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int64_t left_us = deadline - esp_timer_get_time();
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if (left_us <= 0)
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break; /* 超过预估过多: 停止等待 */
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uint32_t left_ms = (uint32_t)(left_us / 1000);
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/* ⚠️ left_us 单位是微秒, 必须先转毫秒再用 (曾把 µs 当 ms → 每次等 40 秒) */
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uint32_t chunk = (left_ms > 40000) ? 40000 : left_ms;
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if (chunk == 0) chunk = 1;
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if (Emm_V5_Wait_Arrival(wait_addrs, wait_count, chunk)) {
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ok = true;
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break;
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}
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ESP_LOGD(TAG, "到位等待中: 剩余 %u ms, 已到位位=0x%02X",
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left_ms, Emm_V5_Arrival_Get_Bits());
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/* 红灯快闪: 等待中 */
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rgb_set(128, 0, 0);
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vTaskDelay(pdMS_TO_TICKS(10));
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rgb_off();
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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/* 最后再查一次 (可能刚好到位), 并消费本段 motion 的到位位 */
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if (!ok)
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ok = Emm_V5_Wait_Arrival(wait_addrs, wait_count, 0);
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int64_t elapsed_ms = (esp_timer_get_time() - start) / 1000;
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uint32_t got_bits = Emm_V5_Arrival_Get_Bits();
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Emm_V5_Arrival_Consume(wait_addrs, wait_count);
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if (ok) {
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ESP_LOGI(TAG, "到位 (mask=0x%02X, %u 轴, 实际等待 %lld ms)",
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moved_mask, wait_count, elapsed_ms);
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return true;
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}
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ESP_LOGW(TAG, "到位超时 (%u ms = 预估 %u + 裕量 %u), mask=0x%02X, 实际已等 %lld ms, 已到位位=0x%02X, 继续后续动作",
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timeout_ms, base_wait_ms, ACTUATOR_SETTLE_MARGIN_MS, moved_mask,
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elapsed_ms, got_bits);
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return false;
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}
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/* ================================================================
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* 运动到位时间估算
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*
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* Emm_V5 曲线加减速 (官方文档):
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* t2 - t1 = (256 - acc) * 50(us), Vt2 = Vt1 + 1(RPM)
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* 即每提升 1 RPM 耗时 (256-acc)*50us, 按梯形/三角形加减速估算。
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* ================================================================ */
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uint32_t actuator_motion_time_ms(uint32_t pulses, uint16_t vel, uint8_t acc)
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{
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if (pulses == 0 || vel == 0) return 0;
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float revs = (float)pulses / (float)EMM_V5_PULSES_PER_REV;
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float v_rps = (float)vel / 60.0f;
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float t_ms;
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if (acc == 0) {
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/* acc=0: 无曲线加减速, 直接按设定速度恒速运行 */
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t_ms = revs / v_rps * 1000.0f;
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} else {
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/* 从 0 加速到目标转速的时间与加速段距离 (线性曲线近似) */
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float t_ramp_s = (float)vel * (float)(256 - acc) * 50e-6f;
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float a_rps2 = v_rps / t_ramp_s;
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float d_ramp_rev = 0.5f * a_rps2 * t_ramp_s * t_ramp_s;
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if (revs <= 2.0f * d_ramp_rev) {
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/* 行程不足, 未到目标转速即减速 → 三角形 */
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t_ms = 2.0f * sqrtf(revs / a_rps2) * 1000.0f;
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} else {
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/* 加速 + 恒速 + 减速 */
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t_ms = (2.0f * t_ramp_s + (revs - 2.0f * d_ramp_rev) / v_rps) * 1000.0f;
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}
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}
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return (uint32_t)(t_ms + 0.999f);
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}
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uint32_t actuator_settle_ms(uint32_t pulses, uint16_t vel, uint8_t acc)
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{
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return actuator_motion_time_ms(pulses, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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uint32_t actuator_mm_motion_time_ms(float distance_mm, uint16_t vel, uint8_t acc)
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{
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if (distance_mm < 0.0f) distance_mm = -distance_mm;
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uint32_t pulses = (uint32_t)(distance_mm * s_scale_x + 0.5f);
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return actuator_motion_time_ms(pulses, vel, acc);
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}
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uint32_t actuator_angle_motion_time_ms(float angle_deg, uint16_t vel, uint8_t acc)
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{
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if (angle_deg < 0.0f) angle_deg = -angle_deg;
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uint32_t pulses = (uint32_t)(angle_deg * 10.0f * s_scale_angle + 0.5f);
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return actuator_motion_time_ms(pulses, vel, acc);
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}
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uint32_t actuator_mm_settle_ms(float distance_mm, uint16_t vel, uint8_t acc)
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{
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return actuator_mm_motion_time_ms(distance_mm, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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uint32_t actuator_angle_settle_ms(float angle_deg, uint16_t vel, uint8_t acc)
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{
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return actuator_angle_motion_time_ms(angle_deg, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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/* ================================================================
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* 初始化
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* ================================================================ */
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void actuator_init(void)
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{
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/* 初始化电机驱动 UART */
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Emm_V5_Init(ACTUATOR_UART_PORT, ACTUATOR_UART_TX, ACTUATOR_UART_RX);
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/* 初始化舵机 PWM */
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servo_init(ACTUATOR_SERVO_GPIO);
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/* 配置舵机限位: 抬起=0°, 放下=103° */
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servo_set_limits(0.0f, 100.0f);
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/* 上电默认归位到抬起状态 */
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servo_set_up();
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/* 配置 4 路电机: 闭环位置模式 + 使能 */
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const uint8_t addrs[] = {
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ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
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ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2
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};
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for (int i = 0; i < 4; i++) {
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uint8_t addr = addrs[i];
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Emm_V5_Modify_Ctrl_Mode(addr, false, ACTUATOR_CTRL_MODE);
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vTaskDelay(pdMS_TO_TICKS(20));
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Emm_V5_En_Control(addr, true, false);
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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s_initialized = true;
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/* 位置跟踪与驱动零位对齐 (重新初始化时复位) */
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s_cur_angle_deg = 0.0f;
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s_cur_x_pulses = 0;
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s_cur_y_pulses = 0;
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ESP_LOGI(TAG, "初始化完成 (Angle=addr%d X=addr%d Y=addr%d/%d, servo=GPIO%d)",
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ACTUATOR_ADDR_ANGLE,
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ACTUATOR_ADDR_X,
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ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2,
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ACTUATOR_SERVO_GPIO);
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}
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/* ================================================================
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* 脉冲换算
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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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s_scale_x = x_scale;
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s_scale_y = y_scale;
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s_scale_angle = angle_scale;
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ESP_LOGI(TAG, "脉冲比例: X=%.3f Y=%.3f Angle=%.3f",
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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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* ⚠️ 实际语义 (2026-08-03): MPU 下发的 source/target 来自 calibrated_H,
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* 本身是"旋转中心"坐标 —— θ=0 时中心到坐标点, 工具末端即落在
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* D = 坐标点 + (dx,dy) (即视觉目标物点; 放置修复后实测验证)。
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* 因此要把工具末端放到 D, 中心需去:
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* center = D - R(θ)·(dx,dy) = 坐标 + (dx,dy) - R(θ)·(dx,dy)
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* 即:
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* X_motor = X + dx - (dx·cosθ - dy·sinθ)
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* Y_motor = Y + dy - (dx·sinθ + dy·cosθ)
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* source 与 target 都必须补偿 (source 不补偿时抓取点会随 Z 角偏移,
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* 见 _actuator_move_fragment 调用处注释)。
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* 旧公式 center = 坐标 - R(θ)·(dx,dy) 少了 "+ (dx,dy)" 项, 会把工具
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* 末端整体放偏 (dx,dy) = (6.6,-35.75)mm (y 偏大 35.75mm)。
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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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/* ⚠️ MPU 下发的 target 来自 calibrated_H, 本身是"旋转中心"坐标
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(θ=0 时中心到 target, 工具末端即落在目标物点 D = target + (dx,dy);
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抓取 source 同样未补偿且工作正常可佐证)。
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因此任意转角 θ 下要把工具末端放到 D, 中心需去:
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center = D - R(θ)·(dx,dy) = target + (dx,dy) - R(θ)·(dx,dy)
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旧公式 center = target - R(θ)·(dx,dy) 把 target 当成工具末端坐标,
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双重扣减 offset, 导致工具末端恒定偏移 (dx,dy) = (6.6,-35.75)mm
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(y 整体偏大 35.75mm)。 */
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float cx = (float)(*target_x) + s_offset_x_mm - rot_dx;
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float cy = (float)(*target_y) + s_offset_y_mm - 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: 位置跟踪 (到位掩码 / 超时按真实行程计算)
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* ================================================================ */
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/* X/Y 轴: 绝对运动直接置为 pulses, 相对运动按 dir 增减 (钳位 ≥0) */
|
|
static void _track_xy_axis(bool is_y, uint8_t dir, uint32_t pulses, bool raF)
|
|
{
|
|
uint32_t *cur = is_y ? &s_cur_y_pulses : &s_cur_x_pulses;
|
|
uint8_t pos_dir = is_y ? ACTUATOR_DIR_Y : ACTUATOR_DIR_X;
|
|
if (raF) {
|
|
*cur = pulses;
|
|
} else {
|
|
*cur = (dir == pos_dir) ? (*cur + pulses)
|
|
: (*cur > pulses ? *cur - pulses : 0);
|
|
}
|
|
}
|
|
|
|
/* Z 旋转轴: 脉冲数 → 角度跟踪 (绝对置位 / 相对按 dir 增减) */
|
|
static void _track_angle_pulses(uint8_t dir, uint32_t pulses, bool raF)
|
|
{
|
|
float deg = (float)pulses / (10.0f * s_scale_angle);
|
|
s_cur_angle_deg = raF ? deg
|
|
: (s_cur_angle_deg + (dir == ACTUATOR_DIR_ANGLE ? deg : -deg));
|
|
}
|
|
|
|
/* ================================================================
|
|
* 内部: 单轴绝对位置运动
|
|
* ================================================================ */
|
|
|
|
static void _actuator_move_abs(uint8_t addr, uint8_t dir, uint32_t pulses,
|
|
uint16_t vel, uint8_t acc, bool snF)
|
|
{
|
|
Emm_V5_Pos_Control(addr, dir, vel, acc,
|
|
pulses,
|
|
true, /* raF=true: 绝对运动 */
|
|
snF);
|
|
|
|
/* 更新 XY 位置跟踪 (Z 角度由 _actuator_move_angle_rel 单独跟踪) */
|
|
if (addr == ACTUATOR_ADDR_X)
|
|
_track_xy_axis(false, dir, pulses, true);
|
|
else if (addr == ACTUATOR_ADDR_Y1 || addr == ACTUATOR_ADDR_Y2)
|
|
_track_xy_axis(true, dir, pulses, true);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 内部: Z 旋转轴角度运动 (绝对角, ±行程内选最近可达代表角)
|
|
* ================================================================ */
|
|
|
|
/** 在 ±limit 行程内选择与当前位置最近的等价角 (mod 360) */
|
|
static float _closest_reachable_angle(float target_deg, float cur_deg, float limit)
|
|
{
|
|
target_deg = fmodf(target_deg, 360.0f);
|
|
if (target_deg < 0.0f)
|
|
target_deg += 360.0f;
|
|
|
|
float best = target_deg;
|
|
float best_dist = 1e30f;
|
|
for (int k = -1; k <= 1; k++) {
|
|
float rep = target_deg + 360.0f * (float)k;
|
|
if (rep < -limit || rep > limit)
|
|
continue;
|
|
float dist = fabsf(rep - cur_deg);
|
|
if (dist < best_dist - 1e-4f ||
|
|
(fabsf(dist - best_dist) <= 1e-4f && rep > best)) {
|
|
best_dist = dist;
|
|
best = rep;
|
|
}
|
|
}
|
|
return best;
|
|
}
|
|
|
|
/** Z 轴相对运动 delta (带符号度): 正负自动选方向, 语义明确, 用于片间旋转;
|
|
⚠️ 一律用相对运动 —— 实测电机1 对“绝对 clk=0”命令不回传到位帧 (会超时) */
|
|
static void _actuator_move_angle_rel(float delta_deg, uint16_t vel, uint8_t acc)
|
|
{
|
|
uint8_t dir = ACTUATOR_DIR_ANGLE;
|
|
float abs_deg = fabsf(delta_deg);
|
|
uint32_t pulses = (uint32_t)(abs_deg * 10.0f * s_scale_angle + 0.5f);
|
|
if (delta_deg < 0.0f)
|
|
dir = (uint8_t)!dir;
|
|
|
|
Emm_V5_Pos_Control(ACTUATOR_ADDR_ANGLE, dir, vel, acc, pulses,
|
|
false, /* raF=false: 相对运动 */
|
|
false);
|
|
s_cur_angle_deg += delta_deg;
|
|
ESP_LOGI(TAG, "Z 角度: 相对 %.1f° (%lu pulses, %s)",
|
|
(double)delta_deg, (unsigned long)pulses, dir ? "CCW" : "CW");
|
|
}
|
|
|
|
/** Z 轴回 0° 到位确认: 电机1 (Z 轴) 对“终点靠近 0°”的移动不回传到位帧,
|
|
改用 Emm_V5_Read_CPOS 轮询实际位置确认 (0~65535 对应 0~360°, 0° 可能读
|
|
0 或 65535 负向回绕)。Z 回零移动小, 通常已被 X/Y 事件等待覆盖, 首次即返回。
|
|
@return true=已到 0° 附近 (容差 tol_deg) */
|
|
static bool _wait_z_at_zero(uint32_t timeout_ms, float tol_deg)
|
|
{
|
|
uint32_t tol_pulses = (uint32_t)(tol_deg / 360.0f * 65535.0f);
|
|
int64_t deadline = esp_timer_get_time() + (int64_t)timeout_ms * 1000;
|
|
int32_t last = -1;
|
|
while (1) {
|
|
int32_t cpos = Emm_V5_Read_CPOS(ACTUATOR_ADDR_ANGLE);
|
|
if (cpos >= 0) {
|
|
last = cpos;
|
|
uint32_t p = (uint32_t)cpos;
|
|
if (p <= tol_pulses || p >= 65535u - tol_pulses) {
|
|
ESP_LOGI(TAG, "Z 回 0 确认 (CPOS=%ld)", (long)cpos);
|
|
return true;
|
|
}
|
|
}
|
|
if (esp_timer_get_time() >= deadline)
|
|
break;
|
|
vTaskDelay(pdMS_TO_TICKS(20));
|
|
}
|
|
ESP_LOGW(TAG, "Z 回 0 轮询超时 (%u ms), 最后 CPOS=%ld, 继续",
|
|
timeout_ms, (long)last);
|
|
return false;
|
|
}
|
|
|
|
/* ================================================================
|
|
* 内部: Y 轴双电机同步运动
|
|
* ================================================================ */
|
|
|
|
static void _actuator_move_y_sync(uint32_t pulses_y, uint16_t vel, uint8_t acc)
|
|
{
|
|
/* Y 轴正向 = CCW (dir=1), 双电机同步 */
|
|
_actuator_move_abs(ACTUATOR_ADDR_Y1, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
|
|
_frame_gap();
|
|
_actuator_move_abs(ACTUATOR_ADDR_Y2, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
|
|
_frame_gap();
|
|
|
|
/* 广播地址触发一次, 两台电机同时开始运动 */
|
|
Emm_V5_Synchronous_motion(0);
|
|
|
|
ESP_LOGD(TAG, "Y 同步(CCW): addr%d+%d -> %lu pulses (%.2fmm) vel=%d acc=%d",
|
|
ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2, pulses_y,
|
|
(double)pulses_y / (double)ACTUATOR_SCALE_Y, vel, acc);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 内部: 执行单个 Fragment
|
|
* ================================================================ */
|
|
|
|
static void _actuator_move_fragment(const edc_fragment_t *frag)
|
|
{
|
|
/* XY 执行速度/加速度 (3000RPM + 250 档, 实测稳定);
|
|
Z 旋转轴保持低速 (见 ACTUATOR_EXEC_Z_VEL/Z_ACC) */
|
|
uint16_t vel_xy = ACTUATOR_EXEC_VEL;
|
|
uint8_t acc_xy = ACTUATOR_EXEC_ACC;
|
|
uint16_t vel_angle = ACTUATOR_EXEC_Z_VEL;
|
|
uint8_t acc_angle = ACTUATOR_EXEC_Z_ACC;
|
|
|
|
/* ---- 提取 source / target 坐标 (可被补偿修改) ---- */
|
|
uint16_t src_x = frag->source.x;
|
|
uint16_t src_y = frag->source.y;
|
|
uint16_t src_angle = frag->source.angle_x10;
|
|
uint16_t tgt_x = frag->target.x;
|
|
uint16_t tgt_y = frag->target.y;
|
|
uint16_t tgt_angle = frag->target.angle_x10;
|
|
|
|
/* 协议角度: source=0 (保持当前), target=相对转角 [0,360);
|
|
执行时自动选行程内与当前位置最近的等价角 */
|
|
float src_angle_deg = (float)src_angle * 0.1f;
|
|
float tgt_angle_deg = (float)tgt_angle * 0.1f;
|
|
|
|
/* Z 旋转轴心偏移补偿 —— source 与 target 都做 (2026-08-03):
|
|
MPU 下发 source/target 均为"旋转中心"坐标 (θ=0 时吸盘在坐标+(dx,dy))。
|
|
若 source 不补偿, 只要抓取瞬间 Z 角 ≠ 0° (前一片放置转角/归零不到位/
|
|
超行程卡位等), 吸盘落点就会偏移 (R(θ)-I)·(dx,dy), 其中 y 分量
|
|
(dy=35.75mm) 主导 → 表现为"设置的抓取点 vs 实际抓取点偏 y"。
|
|
补偿后吸盘恒 = source+(dx,dy) = 视觉目标点, 与抓取时 Z 角无关;
|
|
θ=0° 时补偿为恒等, 对原有行为无影响。 */
|
|
actuator_apply_offset_compensation(&src_x, &src_y, src_angle_deg);
|
|
actuator_apply_offset_compensation(&tgt_x, &tgt_y, tgt_angle_deg);
|
|
|
|
/* source 坐标 → 脉冲数 */
|
|
uint32_t src_pulses_x = (uint32_t)(src_x * s_scale_x);
|
|
uint32_t src_pulses_y = (uint32_t)(src_y * s_scale_y);
|
|
|
|
/* target 坐标 → 脉冲数 */
|
|
uint32_t dst_pulses_x = (uint32_t)(tgt_x * s_scale_x);
|
|
uint32_t dst_pulses_y = (uint32_t)(tgt_y * s_scale_y);
|
|
|
|
ESP_LOGI(TAG, "Fragment: SRC(X=%lu Y=%lu A=%.1f) -> DST(X=%lu Y=%lu A=%.1f comp x=%u y=%u)",
|
|
(unsigned long)src_pulses_x, (unsigned long)src_pulses_y,
|
|
(double)src_angle_deg,
|
|
(unsigned long)dst_pulses_x, (unsigned long)dst_pulses_y,
|
|
(double)tgt_angle_deg,
|
|
tgt_x, tgt_y);
|
|
|
|
/* 到位轮询掩码与超时基准: 一律按“当前实际位置 → 目标”的真实行程计算,
|
|
而不是按绝对坐标 (原点) 估算。绝对坐标会把已在目标位/离原点很远的轴
|
|
算成大行程 → 无行程也等满超时 (初始==目标时整段空等), 且超时被放大 */
|
|
float src_target = _closest_reachable_angle(src_angle_deg, s_cur_angle_deg,
|
|
ACTUATOR_ANGLE_LIMIT_DEG);
|
|
/* 各轴真实行程 (脉冲): Z 终点=0° 时电机1 不回传到位帧,
|
|
不纳入事件等待, 改为之后用 CPOS 轮询确认 */
|
|
float src_z_tgt = src_target;
|
|
uint32_t src_dz = (uint32_t)(fabsf(src_z_tgt - s_cur_angle_deg) * 10.0f * s_scale_angle + 0.5f);
|
|
uint32_t src_dx = (src_pulses_x > s_cur_x_pulses) ? (src_pulses_x - s_cur_x_pulses)
|
|
: (s_cur_x_pulses - src_pulses_x);
|
|
uint32_t src_dy = (src_pulses_y > s_cur_y_pulses) ? (src_pulses_y - s_cur_y_pulses)
|
|
: (s_cur_y_pulses - src_pulses_y);
|
|
|
|
uint32_t src_mask = 0;
|
|
if (src_dz > 0 && src_z_tgt != 0.0f) src_mask |= (1u << 0); /* Z 旋转 */
|
|
if (src_dx > 0) src_mask |= (1u << 1); /* X */
|
|
if (src_dy > 0) src_mask |= (1u << 2) | (1u << 3); /* Y 双电机 */
|
|
|
|
/* 纯运动时间 (按真实行程, 无裕量), 仅作到位等待的兜底超时基准 */
|
|
uint32_t src_wait_ms = actuator_motion_time_ms(src_dz, vel_angle, acc_angle);
|
|
uint32_t t_wait = actuator_motion_time_ms(src_dx, vel_xy, acc_xy);
|
|
if (t_wait > src_wait_ms) src_wait_ms = t_wait;
|
|
t_wait = actuator_motion_time_ms(src_dy, vel_xy, acc_xy);
|
|
if (t_wait > src_wait_ms) src_wait_ms = t_wait;
|
|
|
|
ESP_LOGI(TAG, "source 段行程: dZ=%lu dX=%lu dY=%lu 脉冲, mask=0x%02X, 等待超时=%u ms",
|
|
(unsigned long)src_dz, (unsigned long)src_dx, (unsigned long)src_dy,
|
|
src_mask, src_wait_ms + ACTUATOR_SETTLE_MARGIN_MS);
|
|
|
|
/* ---- 1. 磁铁掉电 ---- */
|
|
magnet_set(false);
|
|
|
|
/* ---- 2. 运动到 source 位置 ---- */
|
|
Emm_V5_Arrival_Reset(); /* 清掉上一段迟到/多余的到位帧, 防污染本段等待 */
|
|
/* source Z 用相对运动转到目标朝向 (0° 基准位; 到位用 CPOS 轮询确认)。
|
|
⚠️ 保持"先旋转后 XY"(与 target 段相反): 本段尚未抓取碎片, 先旋转的
|
|
摆动发生在途中、到点前已转完, 边缘抓取时更安全 */
|
|
_actuator_move_angle_rel(src_z_tgt - s_cur_angle_deg, vel_angle, acc_angle);
|
|
_frame_gap();
|
|
_actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
|
|
src_pulses_x, vel_xy, acc_xy, false);
|
|
_frame_gap();
|
|
_actuator_move_y_sync(src_pulses_y, vel_xy, acc_xy);
|
|
|
|
/* ---- 3. 等待运动到位 (轮询闭环到位标志, 红灯快闪) ---- */
|
|
actuator_wait_arrival(src_wait_ms, src_mask);
|
|
|
|
/* Z 终点=0°: 不回传到位帧 → 已排除出事件等待, 用 CPOS 轮询确认到位 */
|
|
if (src_dz > 0 && src_z_tgt == 0.0f)
|
|
_wait_z_at_zero(ACTUATOR_Z_CONFIRM_MS, ACTUATOR_Z_CONFIRM_TOL_DEG);
|
|
|
|
/* ---- 4. 舵机放下 ---- */
|
|
servo_set_down();
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
|
|
/* ---- 5. 磁铁吸合 ---- */
|
|
magnet_set(true);
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
|
|
/* ---- 6. 舵机抬起 ---- */
|
|
servo_set_up();
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
|
|
/* ---- 7. 运动到 target 位置 ---- */
|
|
Emm_V5_Arrival_Reset(); /* 清掉上一段迟到/多余的到位帧, 防污染本段等待 */
|
|
/* 目标角度取行程内与当前位置最近的等价角, 再用相对运动执行:
|
|
终点朝向与旧协议 (绝对转到 rotate mod 360) 完全一致, 且不会绕远路 */
|
|
float dst_rep = _closest_reachable_angle(tgt_angle_deg, s_cur_angle_deg,
|
|
ACTUATOR_ANGLE_LIMIT_DEG);
|
|
/* 真实行程: 当前 (source 终点) → target; 无行程的轴不等待
|
|
Z 终点=0° (相对转角恰为 0) 时不纳入事件等待, 用 CPOS 轮询确认 */
|
|
float dst_z_tgt = dst_rep;
|
|
uint32_t dst_dz = (uint32_t)(fabsf(dst_z_tgt - s_cur_angle_deg) * 10.0f * s_scale_angle + 0.5f);
|
|
uint32_t dst_dx = (dst_pulses_x > s_cur_x_pulses) ? (dst_pulses_x - s_cur_x_pulses)
|
|
: (s_cur_x_pulses - dst_pulses_x);
|
|
uint32_t dst_dy = (dst_pulses_y > s_cur_y_pulses) ? (dst_pulses_y - s_cur_y_pulses)
|
|
: (s_cur_y_pulses - dst_pulses_y);
|
|
|
|
uint32_t dst_mask = 0;
|
|
if (dst_dz > 0 && dst_z_tgt != 0.0f) dst_mask |= (1u << 0);
|
|
if (dst_dx > 0) dst_mask |= (1u << 1);
|
|
if (dst_dy > 0) dst_mask |= (1u << 2) | (1u << 3);
|
|
|
|
uint32_t dst_wait_ms = actuator_motion_time_ms(dst_dz, vel_angle, acc_angle);
|
|
t_wait = actuator_motion_time_ms(dst_dx, vel_xy, acc_xy);
|
|
if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
|
|
t_wait = actuator_motion_time_ms(dst_dy, vel_xy, acc_xy);
|
|
if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
|
|
|
|
ESP_LOGI(TAG, "target 段行程: dZ=%lu dX=%lu dY=%lu 脉冲, mask=0x%02X, 等待超时=%u ms",
|
|
(unsigned long)dst_dz, (unsigned long)dst_dx, (unsigned long)dst_dy,
|
|
dst_mask, dst_wait_ms + ACTUATOR_SETTLE_MARGIN_MS);
|
|
|
|
/* ⚠️ 时序 (2026-08-04): 放置段先发 XY、后发旋转 —— 抓取的碎片若在区域
|
|
边缘, 先旋转会把它甩向机械边缘碰撞; 先启动 XY, 延迟
|
|
ACTUATOR_ROTATE_DELAY_MS (500ms) 再旋转, 让工具先把碎片带离边缘。
|
|
source 段保持先旋转: 该段尚未抓取碎片, 先旋转的摆动发生在途中、
|
|
到点前已转完, 更安全。 */
|
|
_actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
|
|
dst_pulses_x, vel_xy, acc_xy, false);
|
|
_frame_gap();
|
|
_actuator_move_y_sync(dst_pulses_y, vel_xy, acc_xy);
|
|
/* XY 已启动并把碎片带离边缘后再旋转 */
|
|
vTaskDelay(pdMS_TO_TICKS(ACTUATOR_ROTATE_DELAY_MS));
|
|
_actuator_move_angle_rel(dst_z_tgt - s_cur_angle_deg, vel_angle, acc_angle);
|
|
|
|
/* ---- 8. 等待运动到位 (轮询闭环到位标志, 红灯快闪) ---- */
|
|
actuator_wait_arrival(dst_wait_ms, dst_mask);
|
|
|
|
/* Z 终点=0°: 用 CPOS 轮询确认到位 */
|
|
if (dst_dz > 0 && dst_z_tgt == 0.0f)
|
|
_wait_z_at_zero(ACTUATOR_Z_CONFIRM_MS, ACTUATOR_Z_CONFIRM_TOL_DEG);
|
|
|
|
/* ---- 9. 舵机放下 ---- */
|
|
servo_set_down();
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
|
|
/* ---- 10. 磁铁掉电 ---- */
|
|
magnet_set(false);
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
|
|
/* ---- 11. 舵机抬起 ---- */
|
|
servo_set_up();
|
|
_wait_flash(ACTUATOR_GRIP_SETTLE_MS, 128, 0, 0, 200);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 执行完整 Cycle
|
|
* ================================================================ */
|
|
|
|
int actuator_execute_cycle(const edc_cycle_t *cycle)
|
|
{
|
|
if (!s_initialized) {
|
|
ESP_LOGE(TAG, "未初始化, 无法执行 Cycle");
|
|
return -1;
|
|
}
|
|
if (!cycle) {
|
|
ESP_LOGE(TAG, "Cycle 指针为空");
|
|
return -1;
|
|
}
|
|
if (cycle->frag_count < EDC_FRAG_MIN || cycle->frag_count > EDC_FRAG_MAX) {
|
|
ESP_LOGE(TAG, "Fragment 数量无效: %u (需 %d~%d)",
|
|
cycle->frag_count, EDC_FRAG_MIN, EDC_FRAG_MAX);
|
|
return -1;
|
|
}
|
|
|
|
/* 保存快照 (执行前先存, 即使执行中也可查询) */
|
|
memcpy(&s_last_cycle, cycle, sizeof(edc_cycle_t));
|
|
s_last_cycle_valid = true;
|
|
|
|
ESP_LOGI(TAG, "=== Cycle #%u 开始 (%u fragments) ===",
|
|
cycle->cycle_id, cycle->frag_count);
|
|
|
|
for (int i = 0; i < cycle->frag_count; i++) {
|
|
ESP_LOGI(TAG, "-- Fragment %d/%d --", i + 1, cycle->frag_count);
|
|
_actuator_move_fragment(&cycle->fragments[i]);
|
|
}
|
|
|
|
ESP_LOGI(TAG, "=== Cycle #%u 完成 ===", cycle->cycle_id);
|
|
return 0;
|
|
}
|
|
|
|
/* ================================================================
|
|
* 协议回调: 收到 Cycle → 执行 → DONE
|
|
* ================================================================ */
|
|
|
|
void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
|
|
{
|
|
static uint16_t s_last_exec_id = 0xFFFF;
|
|
|
|
ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
|
|
cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
|
|
cycle->frag_count);
|
|
|
|
/* I2C / UART 冗余下发, 同一 cycle_id 只执行一次 */
|
|
if (cycle->cycle_id == s_last_exec_id) {
|
|
ESP_LOGD(TAG, "Cycle #%u 重复, 跳过执行", cycle->cycle_id);
|
|
return;
|
|
}
|
|
s_last_exec_id = cycle->cycle_id;
|
|
|
|
/* 新一轮执行开始: 复位 RGB 状态 (执行期间 _wait_flash 显示红灯) */
|
|
rgb_set_state(RGB_STATE_IDLE);
|
|
|
|
/* 执行电机运动 (阻塞, 含拾放全流程) */
|
|
ESP_LOGI(TAG, "开始执行 Cycle #%u ...", cycle->cycle_id);
|
|
actuator_execute_cycle(cycle);
|
|
|
|
/* 完成后执行机构置零 (归位): 舵机抬起 + Z/X/Y 三轴回零点 */
|
|
actuator_home_all();
|
|
|
|
/* 全部执行完毕 (含置零) 后回复 DONE */
|
|
edc_proto_send_done(cycle->cycle_id);
|
|
ESP_LOGI(TAG, "Cycle #%u 执行完毕, DONE 已发送", cycle->cycle_id);
|
|
|
|
/* 设置 RGB 状态为 DONE, 主循环将持续绿灯慢闪 */
|
|
rgb_set_state(RGB_STATE_DONE);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 急停
|
|
* ================================================================ */
|
|
|
|
void actuator_stop_all(void)
|
|
{
|
|
const uint8_t addrs[] = {
|
|
ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
|
|
ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2
|
|
};
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
for (int i = 0; i < 4; i++) {
|
|
Emm_V5_Stop_Now(addrs[i], false);
|
|
_frame_gap();
|
|
}
|
|
ESP_LOGW(TAG, "全部电机急停");
|
|
}
|
|
|
|
/* ================================================================
|
|
* 舵机控制
|
|
* ================================================================ */
|
|
|
|
void actuator_servo_up(void)
|
|
{
|
|
servo_set_up();
|
|
ESP_LOGD(TAG, "舵机: 抬起");
|
|
}
|
|
|
|
void actuator_servo_down(void)
|
|
{
|
|
servo_set_down();
|
|
ESP_LOGD(TAG, "舵机: 放下");
|
|
}
|
|
|
|
void actuator_servo_set_angle(float angle)
|
|
{
|
|
servo_set_angle(angle);
|
|
ESP_LOGD(TAG, "舵机: %.1f°", (double)angle);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 单电机手动控制 (Y 轴自动同步)
|
|
* ================================================================ */
|
|
|
|
static inline bool _is_y_motor(uint8_t addr)
|
|
{
|
|
return (addr == ACTUATOR_ADDR_Y1 || addr == ACTUATOR_ADDR_Y2);
|
|
}
|
|
|
|
void actuator_motor_enable(uint8_t addr, bool state)
|
|
{
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
Emm_V5_En_Control(addr, state, false);
|
|
ESP_LOGI(TAG, "电机 %d %s", addr, state ? "使能" : "关闭");
|
|
}
|
|
|
|
void actuator_motor_vel(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc)
|
|
{
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
Emm_V5_Vel_Control(addr, dir, vel, acc, false);
|
|
ESP_LOGI(TAG, "速度: 电机%d %s %dRPM acc=%d",
|
|
addr, dir ? "CCW" : "CW", vel, acc);
|
|
|
|
/* Y 轴同步: 对端电机同样命令 (帧间留间隔) */
|
|
if (_is_y_motor(addr)) {
|
|
uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
|
|
? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
|
|
_frame_gap();
|
|
Emm_V5_Vel_Control(peer, dir, vel, acc, false);
|
|
ESP_LOGD(TAG, "Y 同步: 电机%d 同速", peer);
|
|
}
|
|
}
|
|
|
|
void actuator_motor_pos(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
|
|
uint32_t clk, bool raF)
|
|
{
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
if (_is_y_motor(addr)) {
|
|
/* Y 轴双电机同步位置 (帧间留间隔, 广播地址触发一次) */
|
|
uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
|
|
? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
|
|
Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Pos_Control(peer, dir, vel, acc, clk, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Synchronous_motion(0);
|
|
_track_xy_axis(true, dir, clk, raF); /* 更新位置跟踪 */
|
|
ESP_LOGI(TAG, "位置(Y同步): 电机%d+%d %s %dRPM %lu脉冲 %s",
|
|
addr, peer, dir ? "CCW" : "CW", vel, clk,
|
|
raF ? "绝对" : "相对");
|
|
} else {
|
|
Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, false);
|
|
if (addr == ACTUATOR_ADDR_X)
|
|
_track_xy_axis(false, dir, clk, raF);
|
|
else if (addr == ACTUATOR_ADDR_ANGLE)
|
|
_track_angle_pulses(dir, clk, raF);
|
|
ESP_LOGI(TAG, "位置: 电机%d %s %dRPM %lu脉冲 %s",
|
|
addr, dir ? "CCW" : "CW", vel, clk,
|
|
raF ? "绝对" : "相对");
|
|
}
|
|
}
|
|
|
|
void actuator_motor_angle(uint8_t addr, float angle_deg, uint16_t vel,
|
|
uint8_t acc, bool raF)
|
|
{
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
/* 方向由 Emm_V5_Pos_Control_Angle 根据角度正负自动翻转 */
|
|
uint8_t dir = ACTUATOR_DIR_ANGLE;
|
|
|
|
if (_is_y_motor(addr)) {
|
|
uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
|
|
? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
|
|
Emm_V5_Pos_Control_Angle(addr, dir, vel, acc, angle_deg, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Pos_Control_Angle(peer, dir, vel, acc, angle_deg, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Synchronous_motion(0);
|
|
ESP_LOGI(TAG, "角度(Y同步): 电机%d+%d %.1f° %s vel=%dRPM",
|
|
addr, peer, (double)angle_deg,
|
|
raF ? "绝对" : "相对", vel);
|
|
} else {
|
|
/* 跟踪命令位置 (供 fragment 真实行程计算) */
|
|
if (addr == ACTUATOR_ADDR_ANGLE) {
|
|
s_cur_angle_deg = raF ? angle_deg : (s_cur_angle_deg + angle_deg);
|
|
} else if (addr == ACTUATOR_ADDR_X) {
|
|
/* X 轴按角度手动控制: 换算脉冲后更新跟踪 (负角内部翻转方向) */
|
|
uint8_t eff_dir = (angle_deg < 0.0f) ? (uint8_t)!dir : dir;
|
|
_track_xy_axis(false, eff_dir, EMM_V5_DEG_TO_CLK(fabsf(angle_deg)), raF);
|
|
}
|
|
Emm_V5_Pos_Control_Angle(addr, dir, vel, acc, angle_deg, raF, false);
|
|
ESP_LOGI(TAG, "角度: 电机%d %.1f° %s vel=%dRPM",
|
|
addr, (double)angle_deg,
|
|
raF ? "绝对" : "相对", vel);
|
|
}
|
|
}
|
|
|
|
void actuator_motor_mm(uint8_t addr, float distance_mm, uint16_t vel,
|
|
uint8_t acc, bool raF)
|
|
{
|
|
/* 软限位钳位 */
|
|
if (_is_y_motor(addr)) {
|
|
if (distance_mm < ACTUATOR_LIMIT_Y_MIN) distance_mm = ACTUATOR_LIMIT_Y_MIN;
|
|
if (distance_mm > ACTUATOR_LIMIT_Y_MAX) distance_mm = ACTUATOR_LIMIT_Y_MAX;
|
|
} else {
|
|
if (distance_mm < ACTUATOR_LIMIT_X_MIN) distance_mm = ACTUATOR_LIMIT_X_MIN;
|
|
if (distance_mm > ACTUATOR_LIMIT_X_MAX) distance_mm = ACTUATOR_LIMIT_X_MAX;
|
|
}
|
|
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
uint32_t clk = ACTUATOR_MM_TO_PULSES(distance_mm);
|
|
/* Y 轴正向 = CCW, X 轴正向 = CW */
|
|
uint8_t dir = _is_y_motor(addr) ? ACTUATOR_DIR_Y : ACTUATOR_DIR_X;
|
|
|
|
if (_is_y_motor(addr)) {
|
|
uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
|
|
? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
|
|
Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Pos_Control(peer, dir, vel, acc, clk, raF, true);
|
|
_frame_gap();
|
|
Emm_V5_Synchronous_motion(0);
|
|
_track_xy_axis(true, dir, clk, raF); /* 更新位置跟踪 */
|
|
ESP_LOGI(TAG, "直线(Y同步 %s): 电机%d+%d %.2fmm (%lu脉冲) %s vel=%dRPM",
|
|
dir ? "CCW" : "CW", addr, peer, (double)distance_mm,
|
|
(unsigned long)clk, raF ? "绝对" : "相对", vel);
|
|
} else {
|
|
Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, false);
|
|
if (addr == ACTUATOR_ADDR_X)
|
|
_track_xy_axis(false, dir, clk, raF);
|
|
ESP_LOGI(TAG, "直线(%s): 电机%d %.2fmm (%lu脉冲) %s vel=%dRPM",
|
|
dir ? "CCW" : "CW", addr, (double)distance_mm,
|
|
(unsigned long)clk, raF ? "绝对" : "相对", vel);
|
|
}
|
|
}
|
|
|
|
void actuator_motor_stop(uint8_t addr)
|
|
{
|
|
_frame_gap(); /* 防止与上一帧 UART 冲突 */
|
|
Emm_V5_Stop_Now(addr, false);
|
|
ESP_LOGI(TAG, "停止: 电机%d", addr);
|
|
|
|
/* Y 轴同步停止 (帧间留间隔) */
|
|
if (_is_y_motor(addr)) {
|
|
uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
|
|
? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
|
|
_frame_gap();
|
|
Emm_V5_Stop_Now(peer, false);
|
|
ESP_LOGD(TAG, "Y 同步: 电机%d 同停", peer);
|
|
}
|
|
}
|
|
|
|
/* ================================================================
|
|
* 执行机构置零 (归位)
|
|
*
|
|
* 舵机抬起 + Z/X/Y 三轴并行回零点。Z 旋转与 X/Y 平移互不干扰
|
|
* (Fragment 里也是三轴并行), 无需等 Z 到位再动 X/Y —— 三轴同时
|
|
* 下发、一次到位等待。Cycle 执行完成后与按钮识别前都会调用。
|
|
* ================================================================ */
|
|
|
|
void actuator_home_all(void)
|
|
{
|
|
/* 舵机抬起 */
|
|
servo_set_up();
|
|
|
|
/* 各轴回零真实行程 (当前 → 零点): 已在零位的轴不等待、不算超时 */
|
|
uint32_t x_home_pulses = ACTUATOR_MM_TO_PULSES(ACTUATOR_HOME_X_MM);
|
|
uint32_t y_home_pulses = ACTUATOR_MM_TO_PULSES(ACTUATOR_HOME_Y_MM);
|
|
|
|
/* 置零 Z 终点=0°: 电机1 不回传到位帧 → 不纳入事件等待, 用 CPOS 轮询确认 */
|
|
float home_z_tgt = ACTUATOR_HOME_ANGLE_DEG;
|
|
uint32_t home_dz = (uint32_t)(fabsf(s_cur_angle_deg - home_z_tgt)
|
|
* 10.0f * s_scale_angle + 0.5f);
|
|
uint32_t home_dx = (s_cur_x_pulses > x_home_pulses) ? (s_cur_x_pulses - x_home_pulses)
|
|
: (x_home_pulses - s_cur_x_pulses);
|
|
uint32_t home_dy = (s_cur_y_pulses > y_home_pulses) ? (s_cur_y_pulses - y_home_pulses)
|
|
: (y_home_pulses - s_cur_y_pulses);
|
|
|
|
uint32_t home_mask = 0;
|
|
if (home_dz > 0 && home_z_tgt != 0.0f) home_mask |= (1u << 0);
|
|
if (home_dx > 0) home_mask |= (1u << 1); /* X */
|
|
if (home_dy > 0) home_mask |= (1u << 2) | (1u << 3); /* Y 双电机 */
|
|
|
|
/* 到位等待兜底超时基准 = 各轴真实回零行程的纯运动时间 */
|
|
uint32_t home_motion = actuator_motion_time_ms(home_dz, ACTUATOR_EXEC_Z_VEL,
|
|
ACTUATOR_EXEC_Z_ACC);
|
|
uint32_t t = actuator_motion_time_ms(home_dx, ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC);
|
|
if (t > home_motion) home_motion = t;
|
|
t = actuator_motion_time_ms(home_dy, ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC);
|
|
if (t > home_motion) home_motion = t;
|
|
|
|
ESP_LOGI(TAG, "置零行程: dZ=%lu dX=%lu dY=%lu 脉冲, mask=0x%02X, 等待超时=%u ms",
|
|
(unsigned long)home_dz, (unsigned long)home_dx, (unsigned long)home_dy,
|
|
home_mask, home_motion + ACTUATOR_SETTLE_MARGIN_MS);
|
|
|
|
/* 清掉可能残留的到位帧, 防止污染本次归零等待 (超时后迟到帧边界) */
|
|
Emm_V5_Arrival_Reset();
|
|
|
|
/* Z/X/Y 三轴并行回零 (Z 到位用 CPOS 轮询确认) */
|
|
actuator_motor_angle(ACTUATOR_ADDR_ANGLE, home_z_tgt - s_cur_angle_deg,
|
|
ACTUATOR_EXEC_Z_VEL, ACTUATOR_EXEC_Z_ACC, false);
|
|
actuator_motor_mm(ACTUATOR_ADDR_X, ACTUATOR_HOME_X_MM,
|
|
ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
|
|
actuator_motor_mm(ACTUATOR_ADDR_Y1, ACTUATOR_HOME_Y_MM,
|
|
ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
|
|
actuator_wait_arrival(home_motion, home_mask);
|
|
|
|
/* Z 终点=0°: 用 CPOS 轮询确认到位 */
|
|
if (home_dz > 0 && home_z_tgt == 0.0f)
|
|
_wait_z_at_zero(ACTUATOR_Z_CONFIRM_MS, ACTUATOR_Z_CONFIRM_TOL_DEG);
|
|
|
|
ESP_LOGI(TAG, "置零完成 (Z=%.1f° X=%.0fmm Y=%.0fmm)",
|
|
(double)home_z_tgt,
|
|
(double)ACTUATOR_HOME_X_MM,
|
|
(double)ACTUATOR_HOME_Y_MM);
|
|
}
|
|
|
|
/* ================================================================
|
|
* 最近 Cycle 快照查询
|
|
* ================================================================ */
|
|
|
|
const edc_cycle_t *actuator_get_last_cycle(void)
|
|
{
|
|
return s_last_cycle_valid ? &s_last_cycle : NULL;
|
|
}
|
|
|
|
bool actuator_is_last_cycle_valid(void)
|
|
{
|
|
return s_last_cycle_valid;
|
|
}
|
|
|
|
void actuator_clear_last_cycle(void)
|
|
{
|
|
s_last_cycle_valid = false;
|
|
}
|