📄 pid.c.bak
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if(rot_front==1)
{
rot_dir=1;
PWM0=204;
rot_enable=1;
rot_front=0;
}
if(rot_reverse==1)
{
rot_dir=0;
PWM0=204;
rot_enable=1;
rot_reverse=0;
}
if(wire_add==1)
{
wire_dir=1;
PWM1=204;
wire_enable=1;
wire_add=0;
}
if(wire_dec==1)
{
wire_dir=0;
PWM1=204;
wire_enable=1;
wire_dec=0;
}
if(motor_stop==1)
{
PWM0=0;
PWM1=0;
wire_enable=0;
rot_enable=0;
rot_front=0;
rot_reverse=0;
wire_add=0;
wire_dec=0;
motor_stop=0;
}
if(resend==1)
{
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
resend=0;
}
if(urgent_stop==1)
goto BEGIN;
}
get_v_r();
if(r%10>=5)
pulse_num=r/10+1;
else
pulse_num=r/10;
pulse_num=pulse_num/2;
pulse_num1=r/2;
if(pp.k1==0)
K21=OFF;
else
K21=pp.k21;
const0=(float)(motor_v)*(float)(tooth_num);
const0=(float)(const0*3.14);
const0=(float)(const0/360/r); //motor_v*tooth_num*3.14*pp.d/360/r
temp_data0=const0*pp.d/10;
temp_data00=(float)(pp.dv21)/temp_data0;
delt_rot=255*temp_data00;
if(delt_rot==0)
delt_rot=1;
temp_data00=(float)(pp.v21_p)/temp_data0;
rot_vp=255*temp_data00;
temp_rot_vp=12;
rp_academic_num=60*r*pp.v21_p;
rp_academic_num=rp_academic_num/pp.d/157;
if(K21==ON)
{
temp_data00=(float)(pp.v21_b)/temp_data0;
rot_vb=255*temp_data00;
temp_rot_vb=12;
rb_academic_num=60*r*pp.v21_b;
rb_academic_num=rb_academic_num/pp.d/157;
}
if(rot_vp>12)
n_cm1=pp.t21*250/(rot_vp-12);
else if(rot_vp<12)
n_cm1=pp.t21*250/(12-rot_vp);
K3=pp.k3;
if(pp.k1==0)
K31=OFF;
else
K31=pp.k31;
const1=1900; //6600*10*165*314
temp_data00=(float)(pp.dv31)/(float)(const1);
delt_wire=255*temp_data00;
if(delt_wire==0)
delt_wire=1;
temp_data00=(float)(pp.v31_p)/(float)(const1);
wire_vp=255*temp_data00;
temp_wire_vp=12;
if(K31==ON)
{
temp_data00=(float)(pp.v31_b)/(float)(const1);
wire_vb=255*temp_data00;
temp_wire_vb=12;
}
if(wire_vp>12)
n_cm0=pp.t32*250/(wire_vp-12);
else if(wire_vp<12)
n_cm0=pp.t32*250/(12-wire_vp);
work=3;
if(WIRE==ON)
kk=1;
else
kk=0;
nonce_sec=0;
if(K31==ON||K21==ON)
IEN1=IEN1|0X08; //允许CT3，电流脉冲
do
{
if(urgent_stop==1) //急停后返回
goto BEGIN;
if(rot_ok==0&&start_rot==1) //开始旋转
{
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
if(pp.k2==CW)
rot_dir=1;
else
rot_dir=0;
rot_ok=1;
if(K21==ON)
{
CTCON=CTCON|0x40;
IEN1=IEN1|0x08; //CT3
}
CML1=TML2+0XC8;
if(CML1<TML2) //CM1,400us,旋转速度变化时间
CMH1=TMH2+1+0X00;
else
CMH1=TMH2+0X00;
rot_enable=1;
IEN1=IEN1|0X20; //允许CM1
IEN1=IEN1|0x01; //允许CT0
start_rot=0;
}
if(pp.k3==ON&&wire_ok==0&&start_wire==1)//开始送丝
{
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
wire_dir=1;
wire_ok=1;
CML0=TML2+0xC8; //CM0,400us,送丝速度变化时间
if(CML0<TML2)
CMH0=TMH2+1+0X00;
else
CMH0=TMH2+0X00;
wire_enable=1;
IEN1=IEN1|0X10; //CM0
start_wire=0;
}
if(need_para==1) //显示焊接角度
{
ini_sbuf(M_main,parameter1,0,0,0,0);
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
s_byte_nums=5;
TR_noans();
need_para=0;
}
if(urgent_stop==1)
goto BEGIN;
if(rot_ok==1&&rot_front==1&&r_slope_ok==1) //旋转速度加
{
if(delt_state==0||delt_state==1)
{
if(temp_rot_vp+delt_rot>=255)
temp_rot_vp=255;
else
temp_rot_vp=temp_rot_vp+delt_rot; //rot_vp=rot_vp-255*pp.dv21/1250
}
if(K21==ON)
{
if(delt_state==1||delt_state==2)
{
if(temp_rot_vb+delt_rot>=255)
temp_rot_vb=255;
else
temp_rot_vb=temp_rot_vb+delt_rot; //rot_vb=rot_vb-255*pp.dv21/1250
}
}
else
PWM0=temp_rot_vp;
rot_front=0;
}
if(rot_ok==1&&rot_reverse==1&&r_slope_ok==1) //旋转速度减
{
if(delt_state==0||delt_state==1)
{
if(temp_rot_vp<=delt_rot)
temp_rot_vp=0;
else
temp_rot_vp=temp_rot_vp-delt_rot; //rot_vp=rot_vp+255*pp.dv21/1250
}
if(K21==ON)
{
if(delt_state==1||delt_state==2)
{
if(temp_rot_vb<=delt_rot)
temp_rot_vb=0;
else
temp_rot_vb=temp_rot_vb-delt_rot; //rot_vb=rot_vb+255*pp.dv21/1250
}
}
else
PWM0=temp_rot_vp;
rot_reverse=0;
}
if(urgent_stop==1)
goto BEGIN;
if(K3==ON&&WIRE==ON&&wire_ok==1&&wire_add==1&&w_slope_ok==1)//送丝速度加
{
if(delt_state==0||delt_state==1)
{
if(temp_wire_vp+delt_wire>=255)
temp_wire_vp=255;
else
temp_wire_vp=temp_wire_vp+delt_wire; //wire_vp=wire_vp-255*pp.dv31/2500
}
if(K31==ON)
{
if(delt_state==1||delt_state==2)
{
if(temp_wire_vb+delt_wire>=255)
temp_wire_vb=255;
else
temp_wire_vb=temp_wire_vb+delt_wire; //wire_vb=wire_vb-255*pp.dv31/2500
}
}
else
PWM1=temp_wire_vp;
wire_add=0;
}
if(K3==ON&&WIRE==ON&&wire_ok==1&&wire_dec==1&&w_slope_ok==1)//送丝速度减
{
if(delt_state==0||delt_state==1)
{
if(temp_wire_vp<=delt_wire)
temp_wire_vp=0;
else
temp_wire_vp=temp_wire_vp-delt_wire; //wire_vp=wire_vp+255*pp.dv31/2500
}
if(K31==ON)
{
if(delt_state==1||delt_state==2)
{
if(temp_wire_vb<=delt_wire)
temp_wire_vb=0;
else
temp_wire_vb=temp_wire_vb-delt_wire; //wire_vb=wire_vb+255*pp.dv31/2500
}
}
else
PWM1=temp_wire_vp;
wire_dec=0;
}
if(urgent_stop==1)
goto BEGIN;
if(wire_ok==1&&WIRE==OFF) //手动关丝
{
PWM1=0;
wire_enable=0;
kk=0;
}
if(wire_ok==1&&kk==0&&WIRE==ON) //手动开丝
{
wire_enable=1;
if(K31==OFF)
PWM1=temp_wire_vp;
kk=1;
}
if(decrease==1&&rot_ok==1&&K21==ON)
{
CTCON=CTCON&0x3F;
IEN1=IEN1&0xF7; //CT3
PWM0=temp_rot_vp;
K21=OFF;
}
if(urgent_stop==1)
goto BEGIN;
if(in_sector==1&&new_sector==1) //进入区间
{
K21=pp.x[nonce_sec][1];
K3=pp.x[nonce_sec][5];
K31=pp.x[nonce_sec][6];
if(K21==ON||K3==ON&&K31==ON&&kk==1)
{
if(p_b==0)
CTCON=CTCON|0x40;
else
CTCON=CTCON|0x80;
IEN1=IEN1|0x08; //CT3
}
rot_pid_ok=0;
temp_data0=const0*pp.x[nonce_sec][0]/10;
temp_data00=(float)(pp.x[nonce_sec][2])/temp_data0;
rot_vp=255*temp_data00;
if(K21==ON) //脉动旋转开关
{
temp_data00=(float)(pp.x[nonce_sec][3])/temp_data0;
rot_vb=255*temp_data00;
}
r_slope_ok=0;
if(rot_vp!=temp_rot_vp)
{
c_cm1=0;
if(rot_vp>temp_rot_vp)
rot_slope_delt=rot_vp-temp_rot_vp;
else
rot_slope_delt=temp_rot_vp-rot_vp;
n_cm1=pp.x[nonce_sec][4]*250/rot_slope_delt;
IEN1=IEN1|0X20; //CM1
}
if(K3==ON&&kk==1)
{
wire_ok=1;
temp_data00=(float)(pp.x[nonce_sec][8])/(float)(const1);
wire_vp=255*temp_data00;
if(K31==ON)
{
temp_data00=(float)(pp.x[nonce_sec][9])/(float)(const1);
wire_vb=255*temp_data00;
}
w_slope_ok=0;
if(wire_vp!=temp_wire_vp)
{
c_cm0=0;
if(wire_vp>temp_wire_vp)
wire_slope_delt=wire_vp-temp_wire_vp;
else
wire_slope_delt=temp_wire_vp-wire_vp;
n_cm0=pp.x[nonce_sec][7]*250/wire_slope_delt;
IEN1=IEN1|0X10; //CM0
}
}
new_sector=0;
}
if(K3==ON&&WIRE==ON&&wire_ok==1&&stop_wire==1) //停止送丝
{
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
PWM1=0;
wire_enable=0;
wire_ok=0; //抽丝时没有脉动
delay(2); //79um
if(pp.t34>0)
{
retract=1; //抽丝标志
wire_dir=0;
CML0=TML2+0X50; //100ms
if(CML0<TML2)
CMH0=TMH2+1+0XC3;
else
CMH0=TMH2+0XC3;
n_cm0=pp.t34;
c_cm0=0;
temp_data00=(float)(pp.v32)/(float)(const1);
temp_data00=temp_data00*255;
PWM1=(unsigned char)(temp_data00);
wire_enable=1;
IEN1=IEN1|0X10; //允许CM0，抽丝
}
stop_wire=0;
}
if(decrease==1&&K3==ON&&WIRE==ON&&wire_ok==1)
{
PWM1=0;
wire_enable=0;
wire_ok=0; //抽丝时没有脉动
delay(2); //79um
if(pp.t34>0)
{
retract=1; //抽丝标志
wire_dir=0;
CML0=TML2+0X50;
if(CML0>TML2)
CMH0=TMH2+1+0XC3;
else
CMH0=TMH2+0XC3; //100ms
n_cm0=pp.t34;
c_cm0=0;
temp_data00=(float)(pp.v32)/(float)(const1);
temp_data00=temp_data00*255;
PWM1=(unsigned char)(temp_data00);
wire_enable=1;
IEN1=IEN1|0X10; //允许CM0，抽丝
}
}
if(urgent_stop==1)
goto BEGIN;
if(rot_stop==1) //停止旋转
{
PWM0=0;
rot_enable=0;
IEN1=IEN1&0XF7; //禁止CT3，电流脉冲
IEN1=IEN1&0XFE; //禁止CT0，焊接角度
if(wire_ok==1&&WIRE==ON)
{
PWM1=0;
wire_enable=0;
wire_ok=0; //抽丝时没有脉动
delay(2); //79us
if(pp.t34>0)
{
retract=1; //抽丝标志
wire_dir=0;
CML0=TML2+0X50; //100ms
if(CML0<TML2)
CMH0=TMH2+1+0XC3;
else
CMH0=TMH2+0XC3;
n_cm0=pp.t34;
c_cm0=0;
temp_data00=(float)(pp.v32)/(float)(const1);
temp_data00=temp_data00*255;
PWM1=(unsigned char)(temp_data00);
wire_enable=1;
IEN1=IEN1|0X10; //允许CM0，抽丝
}
}
rot_stop_ok=1;
}
if(urgent_stop==1)
goto BEGIN;
}while(rot_stop_ok==0);
while(need_para==0)
{
if(urgent_stop==1)
goto BEGIN;
}
ini_sbuf(M_main,parameter1,0,0,0,0);
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
s_byte_nums=5;
TR_noans();
need_para=0;
if(pp.b==ON)
{
while(auto_return==0)
{
if(urgent_stop==1)
goto BEGIN;
}
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
if(pp.k2==CW)
rot_dir=0;
else
rot_dir=1;
PWM0=255;
rot_enable=1;
IEN1=IEN1|0X01; //允许CT0，焊接角度
while(return_ok==0)
{
if(urgent_stop==1)
goto BEGIN;
if(need_para==1)
{
sbuffer[0]=M_main;
sbuffer[1]=parameter1;
sbuffer[2]=FINISH/256;
sbuffer[3]=FINISH%256;
sbuffer[4]=0;
s_byte_nums=5;
TR_noans();
need_para=0;
}
}
ini_sbuf(M_main,answer,S_ANSW,0,0,0);
s_byte_nums=4;
TR_noans();
}
while(to_begin==0)
{
if(urgent_stop==1)
goto BEGIN;
}
goto BEGIN;
}
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