Zeroerr01/Steering_Wheel_Applications
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Zeroerr01
2024-08-23 17:10:05 +08:00
commit 4c8173dda7
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81
参数标定程序/GetData/GetData/getData/POUs/MAIN.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4020.12">
<POU Name="MAIN" Id="{029892a6-0f34-45e5-8091-4b3788a64910}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM MAIN
VAR
(*--- Triansmit PDO ---*)
DualPosDiff AT%I* :DINT;//双编码器差值
actVelo AT%I* :DINT;//实际速度
actPosition AT%I* :DINT;//实际位置
(*--- Receive PDO ---*)
targetVelo AT%Q* :DINT;//目标速度
siOperationMode AT%Q* :SINT;//运动模式
udiProAcc AT%Q* :UDINT;//目标加速度
udiProDec AT%Q* :UDINT;//目标减速度
(*--- User ---*)
modAngle: DINT;//角度取余
actAngle: LREAL;//实际角度
rotation :BOOL;//旋转方向
rotationSingle :INT;//旋转标志位
sampleVelo: DINT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[siOperationMode := 3;
udiProAcc:=50000;
udiProDec:=50000;
//计算当前角度
modAngle:= ABS(actPosition MOD 524288);//角度取余
actAngle:= (DINT_TO_LREAL(modAngle)/524288)*360;//实际角度
IF rotation = FALSE THEN
IF actAngle < 180 THEN
IF rotationSingle = 2 THEN//切换模式
rotation := TRUE;
rotationSingle := 3;
targetVelo:=0;
ELSE
IF actAngle <= 5 THEN
rotationSingle := 1;
END_IF
targetVelo:=(ABS(LREAL_TO_DINT(actAngle*1.5)))+30;
END_IF
ELSIF actAngle >= 180 THEN
IF actAngle >= 355 AND rotationSingle = 1 THEN
rotationSingle := 2;
END_IF
targetVelo:=(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))+30;
END_IF
ELSE
IF actAngle < 180 THEN
IF actAngle <= 5 AND rotationSingle = 4 THEN
rotationSingle := 5;
END_IF
targetVelo:=-(ABS(LREAL_TO_DINT(actAngle*1.5)))-30;
ELSIF actAngle >= 180 THEN
IF rotationSingle = 5 THEN//切换模式
rotation := 0;
rotationSingle := 0;
targetVelo:=0;
ELSE
IF actAngle >= 355 THEN
rotationSingle := 4;
END_IF
targetVelo:=-(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))-30;
END_IF
END_IF
END_IF
sampleVelo := targetVelo * 257;]]></ST>
</Implementation>
<LineIds Name="MAIN">
<LineId Id="134" Count="1" />
<LineId Id="62" Count="0" />
<LineId Id="91" Count="8" />
<LineId Id="137" Count="0" />
<LineId Id="101" Count="0" />
<LineId Id="136" Count="0" />
<LineId Id="103" Count="26" />
<LineId Id="138" Count="0" />
<LineId Id="2" Count="0" />
</LineIds>
</POU>
</TcPlcObject>

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参数标定程序/GetData/GetData/getData/PlcTask.TcTTO Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.0.36">
<Task Name="PlcTask" Id="{06884504-b397-4436-8025-4793238d66e9}">
<!--CycleTime in micro seconds.-->
<CycleTime>10000</CycleTime>
<Priority>20</Priority>
<PouCall>
<Name>MAIN</Name>
</PouCall>
<TaskFBGuid>{71cafd4f-a188-46b5-bae8-a74b8a53cc96}</TaskFBGuid>
<Fb_init>{91eddb28-fc27-49f1-a1b2-11d42e639d50}</Fb_init>
<Fb_exit>{77bd5827-6228-4e58-ab6a-271dce175b2f}</Fb_exit>
<CycleUpdate>{8bfa1632-795f-4646-93a4-0b95e03f8100}</CycleUpdate>
<PostCycleUpdate>{b2053fab-24ad-4729-bb28-e6b5a9f4cc70}</PostCycleUpdate>
<ObjectProperties />
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</TcPlcObject>

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参数标定程序/GetData/GetData/getData/_Libraries/beckhoff automation gmbh/tc2_standard/3.3.1.0/tc2_standard.compiled-library Normal file
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参数标定程序/GetData/GetData/getData/_Libraries/beckhoff automation gmbh/tc2_system/3.4.15.0/tc2_system.compiled-library Normal file
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参数标定程序/GetData/GetData/getData/_Libraries/beckhoff automation gmbh/tc3_module/3.3.12.0/tc3_module.compiled-library Normal file
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参数标定程序/GetData/GetData/getData/getData.plcproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
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<FileVersion>1.0.0.0</FileVersion>
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<ItemGroup>
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<SubType>Code</SubType>
</Compile>
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<SubType>Code</SubType>
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<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
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</PlaceholderReference>
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<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
<Namespace>Tc3_Module</Namespace>
</PlaceholderReference>
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参数标定程序/GetData/GetData/getData/getData.tmc Normal file
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参数标定程序/GetData/GetData/getData/getData.tpy Normal file
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