Revision 1:6cdfc10c7b1d, committed 2018-10-11

Comitter:

tanabe2000

Date:

Thu Oct 11 09:45:30 2018 +0000

Parent:

0:890f901f4898

Commit message:

????????????

Changed in this revision

diff -r 890f901f4898 -r 6cdfc10c7b1d petbottleLoading.cpp
--- a/petbottleLoading.cpp	Thu Oct 04 11:43:22 2018 +0000
+++ b/petbottleLoading.cpp	Thu Oct 11 09:45:30 2018 +0000
@@ -5,7 +5,7 @@
     loadingencoder(loadingencoder1_1, loadingencoder1_2 ,NC, 2048, QEI::X4_ENCODING),
     RS485control(PA_4),
     RS485(MDC_TX,MDC_RX,115200),
-    debug(USBTX, USBRX),
+//    debug(USBTX, USBRX),
     limitSW1_(limitswich1_1),
     limitSW2_(limitswich1_2),
     limitSW3_(limitswich1_3)
@@ -45,7 +45,7 @@
     limitSW2 = limitSW2_.read();
     limitSW3 = limitSW3_.read();
 //    debug.printf("L1:<%d>, L2:<%d>, L3:<%d>\r\n", limitSW1, limitSW2, limitSW3);
-debug.printf("nowPals<%d>\r\n", nowPals);
+//    debug.printf("nowPals<%d>\r\n", nowPals);
 
     if(loadingmode == 0) {
         loadingDistance = 0;
@@ -54,16 +54,17 @@
     } else if(loadingmode == 1) {
         limitSwFlag[2] = 0;
         limitSwFlag2[2] = 0;
-        loadingDistance = 954;
+        loadingDistance = 875;
         if((nowPals - pullDistanceOfset) > 700) {
             if(limitSW1 == 1 && limitSwFlag[0] == 0) {
                 limitSwFlag[0] = 1;
-                petbottledropPwm = 1.0;
+                petbottledropPwm = 0.5;
             }
             if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
                 limitSwFlag[0] = 1;
                 limitSwFlag2[0] = 1;
-                petbottledropPwm = 1.0;
+                petbottledropPwm = 0.5
+                ;
             }
             if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
             if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
@@ -75,13 +76,13 @@
         if((nowPals - pullDistanceOfset) > 700) {
             if(limitSW1 == 1 && limitSwFlag[0] == 0) {
                 limitSwFlag[0] = 1;
-      
-                petbottledropPwm = 1.0;
+
+                petbottledropPwm = 0.5;
             }
             if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
                 limitSwFlag[0] = 1;
                 limitSwFlag2[0] = 1;
-                petbottledropPwm = 1.0;
+                petbottledropPwm = 0.5;
             }
             if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
             if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
@@ -94,22 +95,22 @@
                 petbottleInPwm = 0.0;
                 loadingDistance = 0;
                 petbottleInPwm = 0.0;
-                if((nowPals - pullDistanceOfset) < 25) {
+                if((nowPals - pullDistanceOfset) < 15) {
                     if(limitSW1 == 1 && limitSwFlag[0] == 1) {
                         limitSwFlag[0] = 0;
-                        petbottledropPwm = 1.0;
+                        petbottledropPwm = 0.5;
                     }
                     if(limitSW1 == 0 && limitSwFlag[0] == 1 &&limitSwFlag2[0] == 1) {
                         limitSwFlag[0] = 0;
                         limitSwFlag2[0] = 0;
-                        petbottledropPwm = 1.0;
+                        petbottledropPwm = 0.45;
                     }
                     if(limitSW1 ==0 && limitSwFlag[0] == 0) limitSwFlag2[0] = 0;
                     if((limitSwFlag[0] == 0) && (limitSwFlag2[0] == 0) && (limitSW1 == 1))petbottledropPwm = 0.0;
                 }
             }
         } else {
-            if((nowPals - pullDistanceOfset) > 700)petbottleInPwm = -1.0;
+            if((nowPals - pullDistanceOfset) > 700)petbottleInPwm = -0.5;
         }
     } else {
         petbottledropPwm = 0.0;
@@ -120,9 +121,10 @@
     petbottleIn->setSpeed(petbottleInPwm);
 }
 
-int petbottleLoading::LoadingEncoder(){
+int petbottleLoading::LoadingEncoder()
+{
     return nowPals - pullDistanceOfset;
-    }
+}
 
 int petbottleLoading::state()
 {

diff -r 890f901f4898 -r 6cdfc10c7b1d petbottleLoading.h
--- a/petbottleLoading.h	Thu Oct 04 11:43:22 2018 +0000
+++ b/petbottleLoading.h	Thu Oct 11 09:45:30 2018 +0000
@@ -5,9 +5,9 @@
 #include "QEI.h"
 #include"pin_config.h"
 
-#define loadingKP 8.0
-#define loadingKI 0
-#define loadingKD 0.0000001
+#define loadingKP 30.0
+#define loadingKI 0.0
+#define loadingKD 0.0
 #define RATE 0.01
 
 
@@ -63,7 +63,7 @@
     
     /*受信系*/
     bool receiveSuccessed;
-    Serial debug;
+//    Serial debug;
     Timer pt;
     float pdt;