2021-10-10

标题 关于舵轮限位如何添加在代码中使用

问题：在使用过程中，手动开AGV切换横移和旋转按钮过于频繁造成小车限位报警，而报警后就断开动力电，这时只能手动打开按钮接除报警，拍下急停，复位上动力电，此时小车转向容易在死驱，按下前进后朝一个方向不停旋转，连续旋转后没有停止意思，造成内部绕线拧成麻花状态，轻度容易破皮，重度烧坏驱动器。上海兰钧现场，已经更换两台驱动器。
解决：舵轮顺时针和逆时针分别有两个压力开关（转向突出部分可以压到）即限位
如何添加：比如后轮，按钮顺时针旋转，
1）看那个限位开关最先触碰，2）观察顺时针旋转速度正负，即写如下判断

if((!BackSteerWheel_N && StrWhlTurn[1].StrWhl_Speed <0)||(!BackSteerWheel_P && StrWhlTurn[1].StrWhl_Speed > 0)||(!BackSteerWheel_P && !BackSteerWheel_N) )
{
  StrWhlTurn[1].StrWhl_Speed = 0;//后轮转向速度=0
}

BackSteerWheel_N：后轮转向限位（顺时针旋转：从车体上方俯视）最先触碰其开关
开关触碰后为：0 且顺时针速度为-
即：!BackSteerWheel_N && StrWhlTurn[1].StrWhl_Speed <0
顺时针限位触碰，如果速度依然为负，则不允许转了，只可以反方向转回
同理逆时针触碰另外限位

//************************舵轮转向限位保护V1.0********************//

if((!FrontSteerWheel_P && StrWhlTurn[0].StrWhl_Speed <0)||(!FrontSteerWheel_N && StrWhlTurn[0].StrWhl_Speed > 0)||(!FrontSteerWheel_P && !FrontSteerWheel_N) )
{
  StrWhlTurn[0].StrWhl_Speed = 0;//前轮转向速度=0
}
if((!BackSteerWheel_N && StrWhlTurn[1].StrWhl_Speed <0)||(!BackSteerWheel_P && StrWhlTurn[1].StrWhl_Speed > 0)||(!BackSteerWheel_P && !BackSteerWheel_N) )
{
  StrWhlTurn[1].StrWhl_Speed = 0;//后轮转向速度=0
}
if((!CentreSteerWheel_N && StrWhlTurn[2].StrWhl_Speed <0)||(!CentreSteerWheel_P && StrWhlTurn[2].StrWhl_Speed > 0)||(!CentreSteerWheel_N && !CentreSteerWheel_P) )
{
  StrWhlTurn[2].StrWhl_Speed = 0;//中间轮转向速度=0
}

![在这里插入图片描述](https://img-blog.csdnimg.cn/890593cdbc2a4413b51cce274b9aee9e.png?x-oss-process=image/watermark,type_ZHJvaWRzYW5zZmFsbGJhY2s,shadow_50,text_Q1NETiBA55qu55qu6bKBLWVjaG8=,size_20,color_FFFFFF,t_70,g_se,x_16#pic_center)

自动部分舵轮保护

/舵轮转向限位保护V1.0*****/
if((!FrontSteerWheel_P && StrWhlTurn[0].StrWhl_Speed <0)||(!FrontSteerWheel_N && StrWhlTurn[0].StrWhl_Speed > 0)||(!FrontSteerWheel_P && !FrontSteerWheel_N) )
{
SteerLimit_exception[0] = 1;
}
else
{
SteerLimit_exception[0] = 0;
}
if((!BackSteerWheel_N && StrWhlTurn[1].StrWhl_Speed <0)||(!BackSteerWheel_P && StrWhlTurn[1].StrWhl_Speed > 0)||(!BackSteerWheel_P && !BackSteerWheel_N) )
{
SteerLimit_exception[1] = 1;
}
else
{
SteerLimit_exception[1] = 0;
}
if((!CentreSteerWheel_N && StrWhlTurn[2].StrWhl_Speed <0)||(!CentreSteerWheel_P && StrWhlTurn[2].StrWhl_Speed > 0)||(!CentreSteerWheel_N && !CentreSteerWheel_P) )
{
SteerLimit_exception[2] = 1;
}
else
{
SteerLimit_exception[2] = 0;
}

	if(SteerLimit_exception[0] || SteerLimit_exception[1] || SteerLimit_exception[2])
	{
	  targetWheelSpeed.wheel_vel[0] = 0;
		targetWheelSpeed.wheel_vel[1] = 0;
		StrWhlTurn[0].StrWhl_Speed = 0;
		StrWhlTurn[1].StrWhl_Speed = 0;
		StrWhlTurn[2].StrWhl_Speed = 0;
		//SysError.Error.SteerLimit=1;
		music_custom_made = 12;
	}
	else
	{
	  //SysError.Error.SteerLimit=0;
		music_custom_made = 0;
	}

//************************************************************//