调整S曲线计算

WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/dist/default/production/WZYXPCR_NO1.260306_调整S曲线计算.hex

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WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Motor.c

@@ -1,5 +1,10 @@
 #define  __MOTOR1_DEF
 #include "ABIS_User.h"
+#include <math.h>
+
+
+#define MAX_SETP_OF_X   500000
+#define MAX_SETP_OF_X_LEAVEOPT   100000
 /*******************************************************************************
  * 函数名称：CalculateSModeLine
  *******************************************************************************/
@@ -39,34 +44,57 @@ void InitMotorXPWM(void){
     IFS0bits.T2IF = 0;
     IPC1bits.T2IP = 7;
 }
+// S型曲线数学变换
+float sigmoid(float x) {
+    return 1.0f / (1.0f + expf(-x));
+}
+
 /*******************************************************************************
  * 函数名称：SetMotor
  *******************************************************************************/
 void SetMotorX(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS)
 {
+	float deno ;
+	float melo ;
+	float fre;
+	float flexible=MOTORX_XFLEXIBLE;
+    float x_scale;
     unsigned int i;
-    unsigned int Prd;
-    Prd = 625000 / spd; 
-    for (i = 0; i < MOTORX_ACC; i++) {
-        if ((Prd < g_uiMotorXPeriod[i])&&(Prd >= g_uiMotorXPeriod[i + 1])) {
-            *AccPLS = i + 1;
-            break;
-        } else if (Prd == g_uiMotorXPeriod[i]) {
-            *AccPLS = i;
-            break;
-        }
-    }
-    if (Pulses >= *AccPLS + *AccPLS) {
-        *constVPLS = Pulses - *AccPLS;      
-    } else if (Pulses < *AccPLS + *AccPLS) { 
-        *AccPLS = Pulses / 2;
+    unsigned int Prd;	
+	unsigned long int accPlus;
+	static unsigned int lastspd=0;
+	if(spd < g_tEE.uiXSpeedMin)spd = g_tEE.uiXSpeedMin;
+    if(spd > g_tEE.uiXSpeedMax)spd = g_tEE.uiXSpeedMax;
+	accPlus = (spd- g_tEE.uiXSpeedMin)/flexible;
+	if(accPlus > MOTORX_ACC){
+		accPlus = MOTORX_ACC;
+		flexible = (spd- g_tEE.uiXSpeedMin)/accPlus;
+	}
+	if((Pulses/2)>accPlus){
+		*AccPLS = accPlus;
+        *constVPLS = Pulses - *AccPLS;  
+	}else{
+		*AccPLS = Pulses / 2;
         *constVPLS = *AccPLS;
-	}	
+	}
+	if(lastspd != spd){
+		/*只在速度变化时候，跟新曲线参数*/		
+		float Fdelt = spd- g_tEE.uiXSpeedMin;
+		x_scale = accPlus;
+//		g_uiMotorXPeriod[0] = (unsigned short)(625000.0/g_tEE.uiXSpeedMin);
+		g_uiMotorXPeriod[accPlus] = (unsigned short)(625000.0/spd);	
+		for(i=0; i<(accPlus); i++){
+			float melo =flexible * (i - x_scale) / x_scale;		  
+			deno = sigmoid(melo); 								
+			fre = Fdelt * deno + g_tEE.uiXSpeedMin;
+			g_uiMotorXPeriod[i] = (unsigned short)(625000.0/fre);						
+		}
+	}
 }
 /*******************************************************************************
  * 函数名称：MotorHome
  *******************************************************************************/
-void MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd )
+unsigned int MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd )
 {
 	unsigned int Freq;
 	OC1CON1 = 0;  
@@ -79,27 +107,33 @@ void MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVs
 	PulseNum=0;
     if(HOMEX == 0){
         MOTORX_DIR = FORWARD;
-        Freq=5000000/LEAVspd;
+        Freq=2500000/LEAVspd;
         TMR8=0;
         PR8=Freq;
         IFS3bits.T8IF = 0;
         T8CONbits.TON=1;
         
         while(!HOMEX){
-            if(PulseNum > 200000) break;
+            if(PulseNum > MAX_SETP_OF_X_LEAVEOPT) 
+        		T8CONbits.TON=0;
+				return 0;
         }
         T8CONbits.TON=0;
         MOTORX_PWM=0;
     }else{
         MOTORX_DIR = REVERSAL;
-        Freq=5000000/MOVEspd;
+        Freq=2500000/MOVEspd;
         TMR8=0;
-        PR8=Freq;
+        PR8=Freq; 
         IFS3bits.T8IF = 0;
         T8CONbits.TON=1;
-        while(PulseNum < 200000){ 
+        while(1){ 
             if(!HOMEX) 
-                break;
+				break;
+			if(PulseNum >= MAX_SETP_OF_X){				
+        		T8CONbits.TON=0;
+				return 0;
+			}
         }
         T8CONbits.TON=0;
         
@@ -122,30 +156,20 @@ void MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVs
         T8CONbits.TON=1;
         PulseNum=0;
         while(HOMEX==0){
-            if(PulseNum >= 200000) break;
+            if(PulseNum >= MAX_SETP_OF_X_LEAVEOPT) {
+        		T8CONbits.TON=0;
+				return 0;
+			}
         }
         T8CONbits.TON=0;
         MOTORX_PWM=0;
     }
-//	MOTORX_DIR = FORWARD;//close to the home sensor
-//    
-//    Freq=5000000/MOVEspd;//half period
-//    TMR8=0;
-//    PR8=Freq;
-//    IFS3bits.T8IF = 0;
-//    T8CONbits.TON=1;
-//    PulseNum=0;
-//    while(HOMEX == 0){
-//        if(PulseNum >= pulseoffset*2 ) break;//Leave the sensor to 1，出光电后过冲脉冲
-//    }
-//    T8CONbits.TON=0;
-//    MOTORX_PWM=0;
-
     InitMotorXPWM();        //电机OC初始化
     g_uliRunningPulse = 0;
     g_uiScanPulseX = 0;
 	g_tMotorParam.ulXiPosition =0;
 	Delay_ms(10);
+	return 1;
     
     
    

WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Motor.h

@@ -108,7 +108,7 @@ EXTERN_MOTOR1 void CalculateSModeLineY( unsigned int * period, unsigned int len,
 //EXTERN_MOTOR1 void CalculateSModeLineZ( unsigned int * period, unsigned int len, unsigned int fre_max, unsigned int fre_min, float flexible);
 EXTERN_MOTOR1 void InitMotorXPWM();
 EXTERN_MOTOR1 void SetMotorX(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
-EXTERN_MOTOR1 void MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
+EXTERN_MOTOR1 unsigned int MotorXHome(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
 EXTERN_MOTOR1 void MotorXMove(unsigned long int pulse,unsigned char dir,unsigned int spd);
 EXTERN_MOTOR1 void MotorXScan(unsigned long int pulse,unsigned char dir,unsigned int spd);
 EXTERN_MOTOR1 void MotorXMoveTo(unsigned long int pulse,unsigned int spd);

WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/main.c

@@ -84,7 +84,7 @@ int main(void) {
 
     
     Init_T6();             
-    CalculateSModeLineX(g_uiMotorXPeriod, g_tEE.uiXPulseAcc, MOTORX_FREQMAX, MOTORX_FREQMIN, MOTORX_XFLEXIBLE);   
+//    CalculateSModeLineX(g_uiMotorXPeriod, g_tEE.uiXPulseAcc, MOTORX_FREQMAX, MOTORX_FREQMIN, MOTORX_XFLEXIBLE);   
     MotorXHome(g_tEE.uiXPulseHome,g_tEE.uiXSpeedHome,g_tEE.uiXSpeedLeave);
     Delay_ms(500);
     MotorXHome(g_tEE.uiXPulseHome,g_tEE.uiXSpeedHome,g_tEE.uiXSpeedLeave);

WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/nbproject/private/private.xml

@@ -2,14 +2,11 @@
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
-        <group/>
-        <group name="source">
-            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Uart.c</file>
+        <group>
             <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Delay.c</file>
-            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/DS1802.c</file>
-            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Uart.h</file>
+            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Motor.c</file>
             <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/main.c</file>
-            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/EEPROM.c</file>
+            <file>file:/F:/library/source/WZYXPCR_NO1.20250726.X/WZYXPCR_NO1.20250726.X/file/Interrupt.c</file>
         </group>
     </open-files>
 </project-private>