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水平自检没问题了（磁编获取水平角度不对，用手旋动齿轮角度不变），垂直自检没有上光电开关

This commit is contained in:
REASEARCHER\18383 2025-10-20 08:55:22 +08:00
parent 1dcd7bbe76
commit b84ffa3e9b
4 changed files with 17 additions and 27 deletions
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28
APP/Device/Device_rotate/rotate_servo.c
View File

@ -59,11 +59,12 @@ void ptz_sem_post_stop_mutex()
*/
void set_speed_to_servoMotor(uint8_t motorType, float speed)
{
//转换为电机端的r/min
speed = speed * PTZ_HORI_RATIO + 0.5;
/*水平电机*/
if ( motorType == horiMotorType )//水平电机
{
//转换为电机端的r/min
speed = speed * PTZ_HORI_RATIO;
//设置速度，电机的r/min范围-6000~6000
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
@ -71,6 +72,8 @@ void set_speed_to_servoMotor(uint8_t motorType, float speed)
/*垂直电机*/
else
{
//转换为电机端的r/min
speed = speed * PTZ_VERT_RATIO;
//设置速度，电机的r/min范围-6000~6000
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, (int16_t)speed)
, WRITE_ONE_REG_FRAME_NUM, lowPriority);
@ -139,10 +142,9 @@ void ptz_hori_start(char direction, float speed)//输入参数的speed是云台
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H06_SPEED_COMMU_SET_VALUE, speed)//设置速度，电机的r/min范围-6000~6000
// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
set_speed_to_servoMotor(horiMotorType, speedTemp);
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 1)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //使能电机
OSTimeDlyHMSM(0u, 0u, 0u, 50u);
g_ptz.hori_speed_set = speedTemp;
//设定转动方向
g_ptz.hori_direction_last = g_ptz.hori_direction_set;
@ -161,15 +163,13 @@ void ptz_hori_stop(unsigned short int time)
BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
set_speed_to_servoMotor(horiMotorType, 0);
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
// , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
//停止电机
g_ptz.hori_start_stop_set = PTZ_HORI_STOP;
g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
g_ptz.hori_direction_actual = PTZ_HORI_DIR_STOP;
// set_speed_to_servoMotor(horiMotorType, 0);
g_ptz.hori_speed_set = 0;
g_ptz.hori_speed_actual = 0;
@ -181,8 +181,6 @@ void ptz_hori_stop(unsigned short int time)
, WRITE_ONE_REG_FRAME_NUM, lowPriority); //失能电机
}
ptz_hori_stop_count ++;
// servoSendData(horiMotorType, WriteMotorOneReg(H_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
// , WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D
ptz_hori_electric_stable_init();
@ -198,10 +196,12 @@ void ptz_vert_start(char direction, float speed)//输入参数的speed是云台
switch ( direction )
{
case PTZ_VERT_DIR_UP://伺服电机默认速度为正使云台向上
break;
case PTZ_VERT_DIR_DOWN:
speed = -speed;
break;
case PTZ_VERT_DIR_STOP:
speed = -speed;
break;
default:
break;
}
@ -230,17 +230,13 @@ void ptz_vert_stop(unsigned short int time)
{
BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
set_speed_to_servoMotor(vertMotorType, 0);
//停止电机
g_ptz.vert_start_stop_set = PTZ_VERT_STOP;
g_ptz.vert_start_stop_actual = g_ptz.vert_start_stop_set;
g_ptz.vert_direction_actual = PTZ_VERT_DIR_STOP;
//设定转动速度
// servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H06_SPEED_COMMU_SET_VALUE, 0)//设置速度
// , WRITE_ONE_REG_FRAME_NUM, lowPriority);
set_speed_to_servoMotor(vertMotorType, 0);
g_ptz.vert_speed_set = 0;
g_ptz.vert_speed_actual = 0;
@ -248,9 +244,9 @@ void ptz_vert_stop(unsigned short int time)
{
OSTimeDlyHMSM(0u, 0u, 0u, time);
ptz_vert_stop_count = 0;
}
servoSendData(vertMotorType, WriteMotorOneReg(V_MOTOR, H03_DI1_LOGICAL_SELEC, 0)
, WRITE_ONE_REG_FRAME_NUM, highPriority); //失能电机
}
ptz_vert_stop_count ++;
//电子稳定
#ifdef PTZ_ELECTRIC_STABLE_L6235D

9
APP/Device/Device_speed/servoMotor_recv.c
View File

@ -251,15 +251,10 @@ static void ptz_recv_hori_servo_task()
CPU_INT08U err;
while(1) {
OSSemPend(g_horiMotorMutex, 0, &err);
// stopTimeOut(H_MOTOR);
if ( ( MotorReplyForWrite(H_MOTOR) | MotorReplyForRead(H_MOTOR) ) == false)
{
// servoLinkListMemPut(horiMotorType);
// H_MOTOR_STOP;
// stopTimeOut(H_MOTOR);
continue;
}
// OSTimeDlyHMSM(0u, 0u, 0u, 5u);
stopTimeOut(H_MOTOR);
//释放信号量，通知能发送一次
OSSemPost(g_horiSpeedMutex);
@ -277,13 +272,11 @@ static void ptz_recv_vert_servo_task()
CPU_INT08U err;
while(1) {
OSSemPend(g_vertMotorMutex, 0, &err);
stopTimeOut(V_MOTOR);
if ( ( MotorReplyForWrite(V_MOTOR) | MotorReplyForRead(V_MOTOR) ) == false)
{
// V_MOTOR_STOP;
continue;
}
stopTimeOut(V_MOTOR);
//释放信号量，通知能发送一次
OSSemPost(g_vertSpeedMutex);
}

3
APP/Device/Device_speed/speed_to_servoMotor.c
View File

@ -310,6 +310,7 @@ static void ptz_hori_servo_task()
else {
pdebug(DEBUG_LEVEL_FATAL,"ptz_hori_servo_task no data...\n\r");
}
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
}
@ -346,7 +347,7 @@ static void ptz_vert_servo_task()
else {
pdebug(DEBUG_LEVEL_FATAL,"ptz_vert_servo_task no data...\n\r");
}
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
}