717 lines
26 KiB
C
717 lines
26 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 <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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/* 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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/* ================================================================
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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_settle_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_settle_ms(pulses, vel, acc);
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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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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_settle_ms(pulses, vel, acc);
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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=80°, 放下=160° */
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servo_set_limits(0.0f, 95.0f);
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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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/* Z 轴命令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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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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* 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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static void _actuator_move_abs(uint8_t addr, uint8_t dir, uint32_t pulses,
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uint16_t vel, uint8_t acc, bool snF)
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{
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Emm_V5_Pos_Control(addr, dir, vel, acc,
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pulses,
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true, /* raF=true: 绝对运动 */
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snF); /* 多机同步标志 */
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}
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/* ================================================================
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* 内部: Z 旋转轴角度运动 (绝对角, ±行程内选最近可达代表角)
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* ================================================================ */
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/** 在 ±limit 行程内选择与当前位置最近的等价角 (mod 360) */
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static float _closest_reachable_angle(float target_deg, float cur_deg, float limit)
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{
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target_deg = fmodf(target_deg, 360.0f);
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if (target_deg < 0.0f)
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target_deg += 360.0f;
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float best = target_deg;
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float best_dist = 1e30f;
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for (int k = -1; k <= 1; k++) {
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float rep = target_deg + 360.0f * (float)k;
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if (rep < -limit || rep > limit)
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continue;
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float dist = fabsf(rep - cur_deg);
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if (dist < best_dist - 1e-4f ||
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(fabsf(dist - best_dist) <= 1e-4f && rep > best)) {
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best_dist = dist;
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best = rep;
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}
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}
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return best;
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}
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/** Z 轴绝对运动到目标朝向 (用于 source 归位); 负角自动翻转方向, 并更新当前位置跟踪 */
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static void _actuator_move_angle_abs(float angle_deg, uint16_t vel, uint8_t acc)
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{
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float target = _closest_reachable_angle(angle_deg, s_cur_angle_deg,
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ACTUATOR_ANGLE_LIMIT_DEG);
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uint8_t dir = ACTUATOR_DIR_ANGLE;
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float abs_deg = fabsf(target);
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uint32_t pulses = (uint32_t)(abs_deg * 10.0f * s_scale_angle + 0.5f);
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if (target < 0.0f)
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dir = (uint8_t)!dir;
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_actuator_move_abs(ACTUATOR_ADDR_ANGLE, dir, pulses, vel, acc, false);
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s_cur_angle_deg = target;
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ESP_LOGI(TAG, "Z 角度: 目标 %.1f° -> 最近可达 %.1f° (%lu pulses, %s)",
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(double)angle_deg, (double)target, (unsigned long)pulses,
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dir ? "CCW" : "CW");
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}
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/** 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 */
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static void _actuator_move_angle_rel(float delta_deg, uint16_t vel, uint8_t acc)
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{
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uint8_t dir = ACTUATOR_DIR_ANGLE;
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float abs_deg = fabsf(delta_deg);
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uint32_t pulses = (uint32_t)(abs_deg * 10.0f * s_scale_angle + 0.5f);
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if (delta_deg < 0.0f)
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dir = (uint8_t)!dir;
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Emm_V5_Pos_Control(ACTUATOR_ADDR_ANGLE, dir, vel, acc, pulses,
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false, /* raF=false: 相对运动 */
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false);
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s_cur_angle_deg += delta_deg;
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ESP_LOGI(TAG, "Z 角度: 相对 %.1f° (%lu pulses, %s)",
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(double)delta_deg, (unsigned long)pulses, dir ? "CCW" : "CW");
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}
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/* ================================================================
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* 内部: Y 轴双电机同步运动
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* ================================================================ */
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static void _actuator_move_y_sync(uint32_t pulses_y, uint16_t vel, uint8_t acc)
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{
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/* Y 轴正向 = CCW (dir=1), 双电机同步 */
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_actuator_move_abs(ACTUATOR_ADDR_Y1, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
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_frame_gap();
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_actuator_move_abs(ACTUATOR_ADDR_Y2, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
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_frame_gap();
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/* 广播地址触发一次, 两台电机同时开始运动 */
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Emm_V5_Synchronous_motion(0);
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ESP_LOGD(TAG, "Y 同步(CCW): addr%d+%d -> %lu pulses (%.2fmm) vel=%d acc=%d",
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ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2, pulses_y,
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(double)pulses_y / (double)ACTUATOR_SCALE_Y, vel, acc);
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}
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/* ================================================================
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* 内部: 执行单个 Fragment
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* ================================================================ */
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static void _actuator_move_fragment(const edc_fragment_t *frag)
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{
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/* XY 执行速度/加速度 (3000RPM + 250 档, 实测稳定);
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Z 旋转轴保持低速 (见 ACTUATOR_EXEC_Z_VEL/Z_ACC) */
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uint16_t vel_xy = ACTUATOR_EXEC_VEL;
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uint8_t acc_xy = ACTUATOR_EXEC_ACC;
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uint16_t vel_angle = ACTUATOR_EXEC_Z_VEL;
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uint8_t acc_angle = ACTUATOR_EXEC_Z_ACC;
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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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/* 协议角度: source=0 (保持当前), target=相对转角 [0,360);
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执行时自动选行程内与当前位置最近的等价角 */
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float src_angle_deg = (float)src_angle * 0.1f;
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float tgt_angle_deg = (float)tgt_angle * 0.1f;
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/* Z 旋转轴心偏移补偿 (仅对 target 做, 与旧协议行为保持一致) */
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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)(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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/* target 坐标 → 脉冲数 */
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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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ESP_LOGI(TAG, "Fragment: SRC(X=%lu Y=%lu A=%.1f) -> DST(X=%lu Y=%lu A=%.1f comp x=%u y=%u)",
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(unsigned long)src_pulses_x, (unsigned long)src_pulses_y,
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(double)src_angle_deg,
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(unsigned long)dst_pulses_x, (unsigned long)dst_pulses_y,
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(double)tgt_angle_deg,
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tgt_x, tgt_y);
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/* 按实际行程/速度/加速度计算到位等待 (Z/X/Y 并发, 取最长者, 含安全裕量) */
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float src_target = _closest_reachable_angle(src_angle_deg, s_cur_angle_deg,
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ACTUATOR_ANGLE_LIMIT_DEG);
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uint32_t src_wait_ms = actuator_settle_ms(
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(uint32_t)(fabsf(src_target) * 10.0f * s_scale_angle + 0.5f),
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vel_angle, acc_angle);
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uint32_t t_wait = actuator_settle_ms(src_pulses_x, vel_xy, acc_xy);
|
|
if (t_wait > src_wait_ms) src_wait_ms = t_wait;
|
|
t_wait = actuator_settle_ms(src_pulses_y, vel_xy, acc_xy);
|
|
if (t_wait > src_wait_ms) src_wait_ms = t_wait;
|
|
|
|
/* ---- 1. 磁铁掉电 ---- */
|
|
magnet_set(false);
|
|
|
|
/* ---- 2. 运动到 source 位置 ---- */
|
|
_actuator_move_angle_abs(src_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 (红灯快闪, 按行程实时计算) ---- */
|
|
_wait_flash(src_wait_ms, 128, 0, 0, 200);
|
|
|
|
/* ---- 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 ---- */
|
|
/* 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);
|
|
uint32_t dst_wait_ms = actuator_settle_ms(
|
|
(uint32_t)(fabsf(dst_rep - s_cur_angle_deg) * 10.0f * s_scale_angle + 0.5f),
|
|
vel_angle, acc_angle);
|
|
t_wait = actuator_settle_ms(dst_pulses_x, vel_xy, acc_xy);
|
|
if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
|
|
t_wait = actuator_settle_ms(dst_pulses_y, vel_xy, acc_xy);
|
|
if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
|
|
|
|
_actuator_move_angle_rel(dst_rep - s_cur_angle_deg, vel_angle, acc_angle);
|
|
_frame_gap();
|
|
_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);
|
|
|
|
/* ---- 8. 等待运动到位 (红灯快闪, 按行程实时计算) ---- */
|
|
_wait_flash(dst_wait_ms, 128, 0, 0, 200);
|
|
|
|
/* ---- 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;
|
|
|
|
/* 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);
|
|
|
|
/* 全部 Fragment 执行完成后回复 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);
|
|
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);
|
|
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 Z 轴命令位置 (供 fragment 行程内近路选择) */
|
|
if (addr == ACTUATOR_ADDR_ANGLE)
|
|
s_cur_angle_deg = raF ? angle_deg : (s_cur_angle_deg + angle_deg);
|
|
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);
|
|
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);
|
|
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);
|
|
}
|
|
}
|
|
|
|
/* ================================================================
|
|
* 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;
|
|
}
|