Francesco Pistone
/
FORIGO_Modula_V4_R2_DE_BOX_ARGENTO_LAVORO
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Diff: main.cpp
- Revision:
- 6:3fca0ca1949e
- Parent:
- 5:3b95bbfe2dc9
- Child:
- 7:c9fd242538d9
--- a/main.cpp Wed Jul 04 05:51:03 2018 +0000
+++ b/main.cpp Thu Jul 05 16:30:54 2018 +0000
@@ -130,6 +130,7 @@
speedTimer.reset();
pulseRised=1;
oldTractorSpeedRead=1;
+ spazioCoperto+= pulseDistance;
}
speedFilter.reset();
speedClock=1;
@@ -190,9 +191,6 @@
}else{
intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
}
- if (anticipoMax > ((360.0f/pickNumber)-(avvioGradi+16.0f))){
- anticipoMax=(360.0f/pickNumber)-(avvioGradi+16.0f);
- }
}
//*******************************************************
void cambiaTB(double perio){
@@ -250,7 +248,6 @@
avvioGradi = costante da terminale tritecnica
TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
TBfaseStep = (stepGrado*angoloFase);
- anticipoMax = valore in gradi del massimo anticipo proporzionale alla velocità della ruota di semina
*/
if ((tractorSpeed_MtS_timed>0.01f)){
@@ -651,6 +648,47 @@
mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
canDataCheck=1;
}
+ if (rxMsg.id==RX_Configure){
+ uint8_t flags = rxMsg.data[0];
+ uint16_t steps = (uint32_t) rxMsg.data[1]*0xFF00;
+ steps = steps + ((uint32_t)rxMsg.data[2]);
+ cellsCountSet = rxMsg.data[3];
+ if ((flags&0x01)==0x01){
+ encoder=true;
+ }else{
+ encoder=false;
+ }
+ if ((flags&0x02)==0x02){
+ tankLevelEnable=true;
+ }else{
+ tankLevelEnable=false;
+ }
+ if ((flags&0x04)==0x04){
+ seedSensorEnable=true;
+ }else{
+ seedSensorEnable=false;
+ }
+ if ((flags&0x08)==0x08){
+ stendiNylonEnable=true;
+ }else{
+ stendiNylonEnable=false;
+ }
+ if ((flags&0x10)==0x10){
+ canDataCheckEnable=true;
+ }else{
+ canDataCheckEnable=false;
+ }
+ if ((flags&0x20)==0x20){
+ tamburoStandard=1;
+ }else{
+ tamburoStandard=0;
+ }
+ if ((flags&0x40)==0x40){
+ currentCheckEnable=true;
+ }else{
+ currentCheckEnable=false;
+ }
+ }
}
#endif
#if defined(overWriteCanSimulation)
@@ -1128,8 +1166,8 @@
if(speedForCorrection >= speedOfSeedWheel){
fase1=TBdeltaStep;
}else{
- //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/1.25f)*(TBfaseStep));
- fase1=(TBdeltaStep)-(((speedOfSeedWheel)/1.25f)*(TBfaseStep));
+ //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
+ fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
}
if (fase1 > limite){
fase1 -= limite; // se la fase calcolata supera gli step del settore riporta il valore nell'arco precedente (es. fase 1 800, limite 750, risulta 50)
@@ -1275,7 +1313,7 @@
// torna indietro per sbloccare il tamburo
if ((TBmotorDirecti==1)&&(erroreTamburo==1)){
cntCellsForReload++;
- if (cntCellsForReload > 2){
+ if (cntCellsForReload >= cellsCountSet){
TBmotorDirecti=0;
erroreTamburo=0;
}
@@ -1396,6 +1434,10 @@
tractorSpeed_MtS_timed = 0.0f;
enableSpeed=0;
}
+ // esegue il controllo di velocità massima
+ if ((double)speedTimer.read_ms()<=minIntervalPulse){
+ tractorSpeed_MtS_timed = 4.5f;
+ }
//***************************************************************************************************************
// cycle logic control section
//***************************************************************************************************************
@@ -1427,7 +1469,7 @@
dutyTeorico = tabComan[ii+1];
}
}
- if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/1.25f;}
+ if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
#if !defined(speedMaster)
quinCalc();
#endif
@@ -1498,23 +1540,23 @@
#endif
}
// introduce il controllo di corrente
- if (incrementCurrent){
- boostDcOut +=0.005f;
- }
- if (reduceCurrent){
- boostDcOut -=0.005f;
+ if (currentCheckEnable==true){
+ if (incrementCurrent){
+ boostDcOut +=0.005f;
+ }
+ if (reduceCurrent){
+ boostDcOut -=0.005f;
+ }
+ if (boostDcOut >= 0.2f){
+ boostDcOut=0.2f;
+ all_genericals=1;
+ }
+ if (boostDcOut <=-0.2f){
+ boostDcOut=-0.2f;
+ all_genericals=1;
+ }
+ correzione += boostDcOut;
}
- if (boostDcOut >= 0.2f){
- boostDcOut=0.2f;
- all_genericals=1;
- }
- if (boostDcOut <=-0.2f){
- boostDcOut=-0.2f;
- all_genericals=1;
- }
-
- //correzione += boostDcOut;
-
DC_brake=0;
DC_forward=1;
DC_prepare();
@@ -1588,7 +1630,7 @@
}else{
ritardoMassimo = (double)timeIntraPick;
}
- int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/1.25f)*ritardoMassimo)))); //
+ int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
if (tempoDiSincro <= 1){tempoDiSincro=1;}
if ((sincroTimer.read_ms()>= tempoDiSincro)){
if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}