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Robot_3_Axis.nxc
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/*
Changelog
20130830
+ (18:06) Modified complex procedure to use all points
20130828
+ (15:40) Added define initial retract position for axis 3 to prevent collisions when going to home
+ (15:40) Modified homing procedure to prevent triggering of myGlobalPositionSetpoint
+ (15:40) Added procedure for cancelling initial travel to home position
20130820
+ (??:??) 20 maximum points
+ (??:??) Added function for point name
20130819
+ (12:44) Modified complex procedure not to pass through home position
+ (12:45) Encountered issues due to axis 1 backlash, should be compensated by adjusting points positions between each other
20130816
+ (13:26) Added saving points procedure, travelling to home position after startup, release axes feature
20130814
+ (15:15) Added homing procedure, can be initiated/cancelled from orange center button
20130813
+ (16:37) Modified point data structure to contain
20130807
+ (17:40) Added homing axis activities and type for homing
+ (18:06) Added points saving and loading
20130806
+ (22:26) Modified structure definition, renamed to Point.Position, Point.Speed, replaced code to allow compiling
20130723
+ (22:46) Modified point structure definition, added AxisSpeed[MAX_AXES], replaced axis 1,2,3 with AxisPosition[MAX_AXES]
+ Above is attempt, compilation failed while addresing something like val=myStruct[i].myStructMember[j];
+ (23:59) Added fnc_LoadPoints and fnc_SavePoints. Integrated fnc_SavePoints into logic
*/
#define HMI_DEBUG_STRING1 0 //If true will always display contents of myDebugString1 on line 8
#define INITIAL_RETRACT_POS_A3 400
#define AXIS1 0
#define AXIS2 1
#define AXIS3 2
#define AXIS1_P 20
#define AXIS1_I 40
#define AXIS1_D 100
#define AXIS2_P 45
#define AXIS2_I 45
#define AXIS2_D 45
#define AXIS3_P 45
#define AXIS3_I 45
#define AXIS3_D 45
#define AXIS1_APPROACH_HOME_SPEED 40
#define AXIS1_AFTER_HOME_SPEED 80
#define AXIS1_AFTER_HOME_POSITION 1000
#define AXIS2_APPROACH_HOME_SPEED 15
#define AXIS2_AFTER_HOME_SPEED 50
#define AXIS2_AFTER_HOME_POSITION 300
#define AXIS3_APPROACH_HOME_SPEED 25
#define AXIS3_AFTER_HOME_SPEED 30
#define AXIS3_AFTER_HOME_POSITION 250
#define SPEED_MOD_INC 5
#define MAX_AXES 3
#define AXIS_POWER 50
#define AXIS_TEST_MOTION 250
#define AXIS_TEST_SPEED 50
#define AXIS_STANDSTILL_VELOCITY_THRESHOLD 2
#define AXIS_STANDSTILL_VELOCITY_HYSTERESIS 1
#define MAX_POINTS 20
#define ACTIVITY_TEACHPOINT1 0
#define ACTIVITY_TEACHPOINT2 1
#define ACTIVITY_TEACHPOINT3 2
#define ACTIVITY_TEACHPOINT4 3
#define ACTIVITY_TEACHPOINT5 4
#define ACTIVITY_TEACHPOINT6 5
#define ACTIVITY_TEACHPOINT7 6
#define ACTIVITY_TEACHPOINT8 7
#define ACTIVITY_TEACHPOINT9 8
#define ACTIVITY_TEACHPOINT10 9
#define ACTIVITY_TEACHPOINT11 10
#define ACTIVITY_TEACHPOINT12 11
#define ACTIVITY_TEACHPOINT13 12
#define ACTIVITY_TEACHPOINT14 13
#define ACTIVITY_TEACHPOINT15 14
#define ACTIVITY_TEACHPOINT16 15
#define ACTIVITY_TEACHPOINT17 16
#define ACTIVITY_TEACHPOINT18 17
#define ACTIVITY_TEACHPOINT19 18
#define ACTIVITY_TEACHPOINT20 19
#define ACTIVITY_PP 20
#define ACTIVITY_COMPLEX 21
#define ACTIVITY_SAVE_POINTS 22
#define ACTIVITY_HOME_AXIS1 23
#define ACTIVITY_HOME_AXIS2 24
#define ACTIVITY_HOME_AXIS3 25
#define ACTIVITY_RELEASE_AXES 26
#define ACTIVITY_EXIT_PROG 27
#define MAX_ACTIVITIES 28
#define ACTIVITY_TYPE_TEACH_POINT 0
#define ACTIVITY_TYPE_POINT_TO_POINT 1
#define ACTIVITY_TYPE_COMPLEX_1 2
#define ACTIVITY_TYPE_SAVE_POINTS 3
#define ACTIVITY_TYPE_HOME_AXIS 4
#define ACTIVITY_TYPE_RELEASE_AXES 5
#define ACTIVITY_TYPE_EXIT_PROG 6
#define POSITION_REACHED_THRESHOLD 50
#define ULTRASONIC_THRESHOLD 20
#define IN_HOME_POSITION 0
#define BEFORE_PICK_UP 1
#define CHECK_PICK_UP_1 2
#define PREP1_PICK_UP_1 3
#define PREP2_PICK_UP_1 4
#define PICK_UP_1 5
#define TRANSPORT 6
#define DROP_1 7
#define DROP_2 8
#define POINTS_FILENAME "Points.txt"
#define POSITION_FILENAME "Position.txt"
struct Point
{
long Speed_A1[MAX_AXES];
long Position[MAX_AXES];
};
//Point myPoints[MAX_POINTS];
long myPointsSpeed[MAX_POINTS][MAX_AXES];
long myPointsPosition[MAX_POINTS][MAX_AXES];
//Point tempPoint;
int myActivePoint,myActivity,myActivityType;
//For homing
int myHomingAxis;
bool myInitHoming,myResetHoming,myHomingActive;
bool myInitMotionAfterHoming;
long myTachoCounts[MAX_AXES];
int myActualMotorSpeed[MAX_AXES];
bool myMotionInitiated[MAX_AXES];
bool myMotionActive[MAX_AXES];
bool myMotionStandstill[MAX_AXES];
bool myMotionCommandOn[MAX_AXES];
bool myGlobalPositionSetpointAvailable;
int myUltrasonicDist;
int myProgramState;
bool myRequestSingleMotionCommand,myItineraryActive,myInitItinerary,myProgramActive,myInitProgram;
bool myPointHasBeenSelected,mySpeedModifyOn,myBlinkVar;
int myActiveAxisForSpeedModify;
string tempstr;
//Debug variables
string myDebugString1;
long myDebugLong1;
bool fnc_LoadPosition()
{
bool CancelTravel;
ClearScreen();
string s="Wait for cancel home";
TextOut(0, LCD_LINE4,s);
Wait(SEC_5);
CancelTravel=(Sensor(IN_1)==1);
ClearScreen();
if (CancelTravel) s="Cancelled";
else s="Travel to home";
TextOut(0, LCD_LINE4,s);
byte fileHandle;
short fileSize;
unsigned int result;
result=OpenFileRead(POSITION_FILENAME, fileSize, fileHandle);
if (result==LDR_SUCCESS && !CancelTravel)
{
long value[MAX_AXES];
long val;
Read(fileHandle,val);
value[AXIS1]=val;
//myDebugString1=NumToStr(value);
Read(fileHandle,val);
value[AXIS2]=val;
Read(fileHandle,val);
value[AXIS3]=val;
//Initial fixed position of axis 3 from motion
RotateMotorPID(OUT_C, 50, (-1)*value[AXIS3]+INITIAL_RETRACT_POS_A3,AXIS3_P,AXIS3_I,AXIS3_D);
RotateMotorPID(OUT_B, 50, (-1)*value[AXIS2],AXIS2_P,AXIS2_I,AXIS2_D);
RotateMotorPID(OUT_A, 50, (-1)*value[AXIS1],AXIS1_P,AXIS1_I,AXIS1_D);
//Move to home position from retracted offset
RotateMotorPID(OUT_C, 50, (-1)*INITIAL_RETRACT_POS_A3,AXIS3_P,AXIS3_I,AXIS3_D);
ResetAllTachoCounts(OUT_ABC);
CloseFile(fileHandle);
return true;
}
else
{
CloseFile(fileHandle);
return false;
}
}
bool fnc_LoadPoints()
{
byte fileHandle;
short fileSize;
unsigned int result;
result=OpenFileRead(POINTS_FILENAME, fileSize, fileHandle);
if (result==LDR_SUCCESS)
{
string line,tmp;
for(int i=ACTIVITY_TEACHPOINT1; i<MAX_POINTS; i++ )
{
line="00000,00000,00000,000,000,000";
ReadLn(fileHandle, line);
tmp=SubStr(line, 0, 5);
myPointsPosition[i][AXIS1]=StrToNum(tmp);
tmp=SubStr(line, 6, 5);
myPointsPosition[i][AXIS2]=StrToNum(tmp);
tmp=SubStr(line, 12, 5);
myPointsPosition[i][AXIS3]=StrToNum(tmp);
tmp=SubStr(line, 18, 3);
myPointsSpeed[i][AXIS1]=StrToNum(tmp);
tmp=SubStr(line, 22, 3);
myPointsSpeed[i][AXIS2]=StrToNum(tmp);
tmp=SubStr(line, 26, 3);
myPointsSpeed[i][AXIS3]=StrToNum(tmp);
}
CloseFile(fileHandle);
return true;
}
else
{
return false;
}
}
bool fnc_SavePosition(const long Axis1,const long Axis2, const long Axis3)
{
byte fileHandle;
short fileSize = 512;
short bytesWritten;
string write,tmp;
unsigned int result;
DeleteFile(POSITION_FILENAME);
result=CreateFile(POSITION_FILENAME, fileSize, fileHandle);
if (result==LDR_SUCCESS)
{
//for(int i=AXIS1; i<MAX_AXES; i++ )
// {
//Write(fileHandle,myTachoCounts[i]);
Write(fileHandle,Axis1);
Write(fileHandle,Axis2);
Write(fileHandle,Axis3);
//myDebugLong1=myDebugLong1+bytesWritten;
// }
CloseFile(fileHandle);
return true;
}
else
{
return false;
}
}
string fnc_MakePointName(int vPoint)
{
switch(vPoint)
{case ACTIVITY_TEACHPOINT1 :return "Home";break;
case ACTIVITY_TEACHPOINT2 :return "Before pick 1";break;
case ACTIVITY_TEACHPOINT3 :return "Before pick 2";break;
case ACTIVITY_TEACHPOINT4 :return "Before pick 3";break;
case ACTIVITY_TEACHPOINT5 :return "Check pick 1";break;
case ACTIVITY_TEACHPOINT6 :return "Check pick 2";break;
case ACTIVITY_TEACHPOINT7 :return "Check pick 3";break;
case ACTIVITY_TEACHPOINT8 :return "Return before 1";break;
case ACTIVITY_TEACHPOINT9 :return "Return before 2";break;
case ACTIVITY_TEACHPOINT10:return "Prep pick 1";break;
case ACTIVITY_TEACHPOINT11:return "Prep pick 2";break;
case ACTIVITY_TEACHPOINT12:return "Prep pick 3";break;
case ACTIVITY_TEACHPOINT13:return "Pick 1";break;
case ACTIVITY_TEACHPOINT14:return "Pick 2";break;
case ACTIVITY_TEACHPOINT15:return "Pick 3";break;
case ACTIVITY_TEACHPOINT16:return "Transport 1";break;
case ACTIVITY_TEACHPOINT17:return "Transport 2";break;
case ACTIVITY_TEACHPOINT18:return "Drop 1";break;
case ACTIVITY_TEACHPOINT19:return "Drop 2";break;
case ACTIVITY_TEACHPOINT20:return "Drop 3";break;
default:return "Undefined";break;
}
}
bool fnc_SavePoints()
{
byte fileHandle;
short fileSize = 1024;
short bytesWritten;
string write,tmp;
unsigned int result;
DeleteFile(POINTS_FILENAME);
result=CreateFile(POINTS_FILENAME, fileSize, fileHandle);
if (result==LDR_SUCCESS)
{
for(int i=ACTIVITY_TEACHPOINT1; i<MAX_POINTS; i++ )
{
write = "";
tmp = FormatNum("%05d", myPointsPosition[i][AXIS1]);
write = StrCat(write, tmp);
tmp = FormatNum("%05d", myPointsPosition[i][AXIS2]);
write = StrCat(write, ",", tmp);
tmp = FormatNum("%05d", myPointsPosition[i][AXIS3]);
write = StrCat(write, ",", tmp);
tmp = FormatNum("%03d", myPointsSpeed[i][AXIS1]);
write = StrCat(write, ",", tmp);
tmp = FormatNum("%03d", myPointsSpeed[i][AXIS2]);
write = StrCat(write, ",", tmp);
tmp = FormatNum("%03d.", myPointsSpeed[i][AXIS3]);
write = StrCat(write, ",", tmp);
WriteLnString(fileHandle,write, bytesWritten);
}
CloseFile(fileHandle);
return true;
}
else
{
return false;
}
}
task INPUT() {
int i;
bool myButtonCondition,wRE_ButtonPressed[3],wL_ButtonPressed[3],wRE_Touch,wL_Touch,iE_Touch;
wRE_Touch=false;wL_Touch=false;
while(true) {
myDebugString1=NumToStr(myActiveAxisForSpeedModify);
myTachoCounts[AXIS1]=MotorTachoCount(OUT_A);
myTachoCounts[AXIS2]=MotorTachoCount(OUT_B);
myTachoCounts[AXIS3]=MotorTachoCount(OUT_C);
myActualMotorSpeed[AXIS1]=MotorActualSpeed(OUT_A);
myActualMotorSpeed[AXIS2]=MotorActualSpeed(OUT_B);
myActualMotorSpeed[AXIS3]=MotorActualSpeed(OUT_C);
myUltrasonicDist=SensorUS(S2);
iE_Touch=(Sensor(IN_1)==1);
wRE_Touch=(iE_Touch && !wL_Touch);
wL_Touch=iE_Touch;
if(wRE_Touch && myActivityType==ACTIVITY_TYPE_TEACH_POINT) {
if (mySpeedModifyOn && myPointHasBeenSelected) {myActiveAxisForSpeedModify=myActiveAxisForSpeedModify+1;}
if (myPointHasBeenSelected && !mySpeedModifyOn) {mySpeedModifyOn=true;}
if (!myPointHasBeenSelected) {myPointHasBeenSelected=true;myActiveAxisForSpeedModify=AXIS1;}
if (myActiveAxisForSpeedModify==MAX_AXES) {mySpeedModifyOn=false;myPointHasBeenSelected=false;}
/*
}*/
PlayFileEx("! Backup.rso", 3, false);Wait(MS_500);}
if(wRE_Touch && myHomingActive && myActivityType==ACTIVITY_TYPE_HOME_AXIS) {
PlayFileEx("Good.rso", 3, false);Wait(MS_500);
myHomingActive=false;
//Reset encoder axis
switch(myHomingAxis)
{case AXIS1:ResetAllTachoCounts(OUT_A);break;
case AXIS2:ResetAllTachoCounts(OUT_B);break;
case AXIS3:ResetAllTachoCounts(OUT_C);break;
}
myInitMotionAfterHoming=true;
}
for(i=0;i<3;i++) {
switch(i)
{
case 0:myButtonCondition=ButtonPressed(BTNRIGHT, false);break;
case 1:myButtonCondition=ButtonPressed(BTNLEFT, false);break;
case 2:myButtonCondition=ButtonPressed(BTNCENTER, false);break;
}
wRE_ButtonPressed[i]=(myButtonCondition && !wL_ButtonPressed[i]);
wL_ButtonPressed[i]=myButtonCondition;
if (wRE_ButtonPressed[i] && i==0 && myGlobalPositionSetpointAvailable && !myItineraryActive && !myProgramActive && !myHomingActive && !myPointHasBeenSelected) {myActivity=(myActivity+1) % MAX_ACTIVITIES;myRequestSingleMotionCommand=false;}
if (wRE_ButtonPressed[i] && i==1 && myGlobalPositionSetpointAvailable && !myItineraryActive && !myProgramActive && !myHomingActive && !myPointHasBeenSelected) {myActivity=myActivity-1;if (myActivity<0) myActivity=MAX_ACTIVITIES-1;myRequestSingleMotionCommand=false;}
if (wRE_ButtonPressed[i] && i==0 && myActivityType==ACTIVITY_TYPE_TEACH_POINT && mySpeedModifyOn)
{myPointsSpeed[myActivePoint][myActiveAxisForSpeedModify]=myPointsSpeed[myActivePoint][myActiveAxisForSpeedModify]+SPEED_MOD_INC;}
if (wRE_ButtonPressed[i] && i==1 && myActivityType==ACTIVITY_TYPE_TEACH_POINT && mySpeedModifyOn)
{myPointsSpeed[myActivePoint][myActiveAxisForSpeedModify]=myPointsSpeed[myActivePoint][myActiveAxisForSpeedModify]-SPEED_MOD_INC;}
if (wRE_ButtonPressed[i] && (i==0 || i==1) && myActivity==ACTIVITY_PP) {myActivePoint=ACTIVITY_TEACHPOINT1;}
if (wRE_ButtonPressed[i] && i==2)
{
switch(myActivityType)
{
case ACTIVITY_TYPE_TEACH_POINT:
if (myGlobalPositionSetpointAvailable && !myPointHasBeenSelected) myRequestSingleMotionCommand=true;
else if (myPointHasBeenSelected && !mySpeedModifyOn) {
//Teach point
for(i=AXIS1;i<MAX_AXES;i++) {myPointsPosition[myActivePoint][i]=myTachoCounts[i];}
PlayFileEx("Good.rso", 3, false);
myPointHasBeenSelected=false;
}
break;
case ACTIVITY_TYPE_POINT_TO_POINT:
if (myGlobalPositionSetpointAvailable && !myItineraryActive) {myInitItinerary=true;}
break;
case ACTIVITY_TYPE_COMPLEX_1:
myProgramActive=!myProgramActive;if (myProgramActive) {myInitProgram=true;}
break;
case ACTIVITY_TYPE_HOME_AXIS:
myHomingActive=!myHomingActive;if (myHomingActive) {myInitHoming=true;} else {myResetHoming=true;}
break;
case ACTIVITY_TYPE_SAVE_POINTS:
if (fnc_SavePoints()) {PlayFileEx("Good.rso", 3, false);}
else { PlayFileEx("Error.rso", 3, false);}
break;
case ACTIVITY_TYPE_RELEASE_AXES:
CoastEx(OUT_ABC, RESET_NONE);
PlayFileEx("Good.rso", 3, false);
break;
case ACTIVITY_TYPE_EXIT_PROG:
if (fnc_SavePosition(myTachoCounts[AXIS1],myTachoCounts[AXIS2],myTachoCounts[AXIS3]))
{PlayFileEx("Good.rso", 3, false);Wait(SEC_2);StopAllTasks();}
else {PlayFileEx("Error.rso", 3, false);}
break;
}
}
}
}
}
task HMI()
{ int i;
string s;
long val;
Point tmp;
while (true) {
ClearScreen();
myBlinkVar=!myBlinkVar;
s="A1:";
s=strcat(s,FormatNum("%05d,", myTachoCounts[AXIS1]));
s=strcat(s,FormatNum("%03d,",myActualMotorSpeed[AXIS1]));
if (myMotionActive[AXIS1]==true) tempstr="mov"; else tempstr="stp";
s=strcat(s,tempstr);
TextOut(0, LCD_LINE1,s);
s="A2:";
s=strcat(s,FormatNum("%05d,", myTachoCounts[AXIS2]));
s=strcat(s,FormatNum("%03d,",myActualMotorSpeed[AXIS2]));
if (myMotionActive[AXIS2]==true) tempstr="mov"; else tempstr="stp";
s=strcat(s,tempstr);
TextOut(0, LCD_LINE2,s);
s="A3:";
s=strcat(s,FormatNum("%05d,", myTachoCounts[AXIS3]));
s=strcat(s,FormatNum("%03d,",myActualMotorSpeed[AXIS3]));
if (myMotionActive[AXIS3]==true) tempstr="mov"; else tempstr="stp";
s=strcat(s,tempstr);
TextOut(0, LCD_LINE3,s);
switch(myActivityType)
{
case ACTIVITY_TYPE_TEACH_POINT:
s="P";
s=strcat(s,NumToStr(myActivePoint));
s=strcat(s,":");
s=strcat(s,fnc_MakePointName(myActivePoint));
TextOut(0, LCD_LINE4,s);
if (myBlinkVar || !myPointHasBeenSelected)
{
for(i=1;i<=MAX_AXES;i++)
{
s="P.A";
s=strcat(s,NumToStr(i));
s=strcat(s,":");
val=myPointsPosition[myActivePoint][i-1];
/*
if (myPointHasBeenSelected && !mySpeedModifyOn)
{
if (myBlinkVar) s=strcat(s,FormatNum("%05d,", val));
else s=strcat(s,FormatNum("%05d,", ""));
}
else s=strcat(s,FormatNum("%05d,", val));
*/
s=strcat(s,FormatNum("%05d,", val));
val=myPointsSpeed[myActivePoint][i-1];
//if (myPointHasBeenSelected && mySpeedModifyOn && (i-1)==myActiveAxisForSpeedModify)
if (myPointHasBeenSelected && mySpeedModifyOn && i==1)
{
if (myBlinkVar) {s=strcat(s,FormatNum("%03d", val));}
else {s=strcat(s,"aaa");}
}
else {s=strcat(s,FormatNum("%03d", val));}
TextOut(0, LCD_LINE5-(i-1)*8,s);
}
}
s="Go point.Teach.";
TextOut(0, LCD_LINE8,s);
break;
case ACTIVITY_TYPE_POINT_TO_POINT:
s="Point to point";
TextOut(0, LCD_LINE4,s);
s="Travel from";
TextOut(0, LCD_LINE5,s);
s="points 0 to 8.";
TextOut(0, LCD_LINE6,s);
s="Active point:P";
s=strcat(s,NumToStr(myActivePoint));
TextOut(0, LCD_LINE7,s);
s="Start.Push stop.";
TextOut(0, LCD_LINE8,s);
break;
case ACTIVITY_TYPE_COMPLEX_1:
s="Complex";
TextOut(0, LCD_LINE4,s);
s="Ultrasonic:";
s=strcat(s,NumToStr(myUltrasonicDist));
TextOut(0, LCD_LINE5,s);
s=fnc_MakePointName(myActivePoint);
TextOut(0, LCD_LINE6,s);
break;
case ACTIVITY_TYPE_SAVE_POINTS:
s="Save points to";
TextOut(0, LCD_LINE4,s);
s="file system";
TextOut(0, LCD_LINE5,s);
break;
case ACTIVITY_TYPE_HOME_AXIS:
s="Start homing";
TextOut(0, LCD_LINE4,s);
s="axis ";
s=strcat(s,NumToStr(myHomingAxis+1));
TextOut(0, LCD_LINE5,s);
break;
case ACTIVITY_TYPE_EXIT_PROG:
s="Exit program";
TextOut(0, LCD_LINE4,s);
s="Save position";
TextOut(0, LCD_LINE5,s);
break;
case ACTIVITY_TYPE_RELEASE_AXES:
s="Release axes";
TextOut(0, LCD_LINE4,s);
break;
}
//FontTextOut( 0,60, "PropTiny.RIC", "Now is the winter of our discontent made glorious summer by this son of York. And all the clouds that lowered upon our house in the deep bosom of the ocean buried.", DRAW_OPT_NORMAL|DRAW_OPT_FONT_DIR_L2RB|DRAW_OPT_FONT_WRAP );
if (HMI_DEBUG_STRING1) {s=myDebugString1;TextOut(0, LCD_LINE8,s);}
Wait(MS_500);
}
}
task CONTROL()
{
string s;
int myTentativeProgState;
while(true) {
//Axis 1 standstill monitoring
if (myMotionInitiated[AXIS1] && abs(myActualMotorSpeed[AXIS1])>AXIS_STANDSTILL_VELOCITY_THRESHOLD+AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionActive[AXIS1]=true;myMotionInitiated[AXIS1]=false;}
if (myMotionActive[AXIS1] && abs(myActualMotorSpeed[AXIS1])<AXIS_STANDSTILL_VELOCITY_THRESHOLD-AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionStandstill[AXIS1]=true;myMotionActive[AXIS1]=false;}
//Axis 2 standstill monitoring
if (myMotionInitiated[AXIS2] && abs(myActualMotorSpeed[AXIS2])>AXIS_STANDSTILL_VELOCITY_THRESHOLD+AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionActive[AXIS2]=true;myMotionInitiated[AXIS2]=false;myMotionStandstill[AXIS2]=false;}
if (myMotionActive[AXIS2] && abs(myActualMotorSpeed[AXIS2])<AXIS_STANDSTILL_VELOCITY_THRESHOLD-AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionStandstill[AXIS2]=true;myMotionActive[AXIS2]=false;}
//Axis 3 standstill monitoring
if (myMotionInitiated[AXIS3] && abs(myActualMotorSpeed[AXIS3])>AXIS_STANDSTILL_VELOCITY_THRESHOLD+AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionActive[AXIS3]=true;myMotionInitiated[AXIS3]=false;myMotionStandstill[AXIS3]=false;}
if (myMotionActive[AXIS3] && abs(myActualMotorSpeed[AXIS3])<AXIS_STANDSTILL_VELOCITY_THRESHOLD-AXIS_STANDSTILL_VELOCITY_HYSTERESIS)
{myMotionStandstill[AXIS3]=true;myMotionActive[AXIS3]=false;}
//Global position available
if (myMotionStandstill[AXIS1] && myMotionStandstill[AXIS2] && myMotionStandstill[AXIS3])
{myGlobalPositionSetpointAvailable=true;
myMotionStandstill[AXIS2]=false;
myMotionStandstill[AXIS3]=false;
myMotionStandstill[AXIS1]=false;
s="0";
if (myActivePoint<10)
{
s=strcat(s,NumToStr(myActivePoint));
s=strcat(s,".rso");
PlayFileEx(s, 3, false); Wait(MS_500);
}
else
{
s=strcat(s,NumToStr(myActivePoint/10));
s=strcat(s,".rso");
PlayFileEx(s, 3, false); Wait(MS_500);
s="0";
s=strcat(s,NumToStr(myActivePoint%10));
s=strcat(s,".rso");
PlayFileEx(s, 3, false); Wait(MS_500);
}
}
if (myGlobalPositionSetpointAvailable)
{
if (myRequestSingleMotionCommand)
{
myRequestSingleMotionCommand=false;
myMotionCommandOn[AXIS1]=true;
myMotionCommandOn[AXIS2]=true;
myMotionCommandOn[AXIS3]=true;
myGlobalPositionSetpointAvailable=false;
}
//Wait(MS_500);
//Wait(SEC_2);
}
if (myActivity>=ACTIVITY_TEACHPOINT1 && myActivity<=MAX_POINTS-1)
{
myActivityType=ACTIVITY_TYPE_TEACH_POINT;
myActivePoint=myActivity;
}
if (myActivity==ACTIVITY_COMPLEX) myActivityType=ACTIVITY_TYPE_COMPLEX_1;
if (myActivity==ACTIVITY_PP)
{
myActivityType=ACTIVITY_TYPE_POINT_TO_POINT;
if (myInitItinerary && myGlobalPositionSetpointAvailable)
{
myInitItinerary=false;
myItineraryActive=true;
myActivePoint=ACTIVITY_TEACHPOINT1;
myRequestSingleMotionCommand=true;
}
if (myItineraryActive && !myRequestSingleMotionCommand && myGlobalPositionSetpointAvailable)
{
myActivePoint=(myActivePoint+1) % (MAX_POINTS);
if (myActivePoint==ACTIVITY_TEACHPOINT9) {myRequestSingleMotionCommand=true;myItineraryActive=false;}
else {myRequestSingleMotionCommand=true;}
}
}
if (myActivity==ACTIVITY_SAVE_POINTS)
{
myActivityType=ACTIVITY_TYPE_SAVE_POINTS;
}
if (myActivity>=ACTIVITY_HOME_AXIS1 && myActivity<=ACTIVITY_HOME_AXIS3)
{
myHomingAxis=myActivity-ACTIVITY_HOME_AXIS1;
myActivityType=ACTIVITY_TYPE_HOME_AXIS;
}
if (myActivity==ACTIVITY_EXIT_PROG)
{
myActivityType=ACTIVITY_TYPE_EXIT_PROG;
}
if (myActivity==ACTIVITY_RELEASE_AXES)
{
myActivityType=ACTIVITY_TYPE_RELEASE_AXES;
}
if (myActivity==ACTIVITY_COMPLEX)
{
myActivityType=ACTIVITY_TYPE_COMPLEX_1;
if (myProgramActive && myInitProgram)
{
myInitProgram=false;
myProgramState=ACTIVITY_TEACHPOINT2;
myActivePoint=myProgramState;
myRequestSingleMotionCommand=true;
}
if (myProgramActive && !myRequestSingleMotionCommand && myGlobalPositionSetpointAvailable)
{
myTentativeProgState=myProgramState+1;
switch (myProgramState)
{
case ACTIVITY_TEACHPOINT7 :
Wait(SEC_2);
if(myUltrasonicDist<ULTRASONIC_THRESHOLD || true ) {myTentativeProgState=ACTIVITY_TEACHPOINT10;}
else {myTentativeProgState=ACTIVITY_TEACHPOINT8;}
break;
case ACTIVITY_TEACHPOINT9:
myTentativeProgState=ACTIVITY_TEACHPOINT2;
break;
case ACTIVITY_TEACHPOINT20:
myTentativeProgState=ACTIVITY_TEACHPOINT2;
break;
}
myProgramState=myTentativeProgState;
myActivePoint=myProgramState;
myRequestSingleMotionCommand=true;
}
}
}
}
task MOTION_AXIS1()
{
byte p,i,d;
int me;
long diff;
me=AXIS1;
p=AXIS1_P;
i=AXIS1_I;
d=AXIS1_D;
while(true) {
if (myInitHoming && myHomingAxis==me) {
myInitHoming=false;
OnRev(OUT_A, AXIS1_APPROACH_HOME_SPEED);
}
if (myResetHoming && myHomingAxis==me && myHomingActive) {
myResetHoming=false;
Off(OUT_A);
}
if (myInitMotionAfterHoming && myHomingAxis==me) {
myInitMotionAfterHoming=false;
RotateMotorPID(OUT_A, AXIS1_AFTER_HOME_SPEED, AXIS1_AFTER_HOME_POSITION,p,i,d);
}
if (myMotionCommandOn[me]) {
myMotionCommandOn[me]=false;
diff=myTachoCounts[me]-myPointsPosition[myActivePoint][me];
if (abs(diff)>POSITION_REACHED_THRESHOLD) {
myMotionInitiated[me]=true;
myMotionStandstill[me]=false;
myMotionActive[me]=false;
RotateMotorPID(OUT_A, myPointsSpeed[myActivePoint][me], diff*(-1),p,i,d);
}
else {
myMotionStandstill[me]=true;
}
}
}
}
task MOTION_AXIS2()
{
byte p,i,d;
int me;
long diff;
me=AXIS2;
p=AXIS2_P;
i=AXIS2_I;
d=AXIS2_D;
while(true) {
if (myInitHoming && myHomingAxis==me) {
myInitHoming=false;
OnFwd(OUT_B, AXIS2_APPROACH_HOME_SPEED);
}
if (myResetHoming && myHomingAxis==me && myHomingActive) {
myResetHoming=false;
Off(OUT_B);
}
if (myInitMotionAfterHoming && myHomingAxis==me) {
myInitMotionAfterHoming=false;
RotateMotorPID(OUT_B, (-1)*AXIS2_AFTER_HOME_SPEED, AXIS2_AFTER_HOME_POSITION,p,i,d);
}
if (myMotionCommandOn[me]) {
myMotionCommandOn[me]=false;
diff=myTachoCounts[me]-myPointsPosition[myActivePoint][me];
if (abs(diff)>POSITION_REACHED_THRESHOLD) {
myMotionInitiated[me]=true;
myMotionStandstill[me]=false;
myMotionActive[me]=false;
RotateMotorPID(OUT_B, myPointsSpeed[myActivePoint][me], diff*(-1),p,i,d);
}
else {
myMotionStandstill[me]=true;
}
}
}
}
task MOTION_AXIS3()
{
byte p,i,d;
int me;
long diff;
me=AXIS3;
p=AXIS3_P;
i=AXIS3_I;
d=AXIS3_D;
while(true) {
if (myInitHoming && myHomingAxis==me) {
myInitHoming=false;
OnFwd(OUT_C, AXIS3_APPROACH_HOME_SPEED);
}
if (myResetHoming && myHomingAxis==me && myHomingActive) {
myResetHoming=false;
Off(OUT_C);
}
if (myInitMotionAfterHoming && myHomingAxis==me) {
myInitMotionAfterHoming=false;
//myMotionInitiated[me]=true;
//myMotionStandstill[me]=false;
//myMotionActive[me]=false;
RotateMotorPID(OUT_C, (-1)*AXIS3_AFTER_HOME_SPEED, AXIS3_AFTER_HOME_POSITION,p,i,d);
}
if (myMotionCommandOn[me]) {
myMotionCommandOn[me]=false;
diff=myTachoCounts[me]-myPointsPosition[myActivePoint][me];
if (abs(diff)>POSITION_REACHED_THRESHOLD) {
myMotionInitiated[me]=true;
myMotionStandstill[me]=false;
myMotionActive[me]=false;
RotateMotorPID(OUT_C, myPointsSpeed[myActivePoint][me], diff*(-1),p,i,d);
}
else {
myMotionStandstill[me]=true;
}
}
}
}
void init() {
SetSensorTouch(IN_1);
SetSensorUltrasonic(IN_2);
myDebugString1="Debug string 1.";
if (fnc_LoadPoints()) {;//PlayFileEx("Good.rso", 3, false);
}
else {PlayFileEx("Error.rso", 3, false);}
if (fnc_LoadPosition()) {;PlayFileEx("Good.rso", 3, false);
}
else {PlayFileEx("Error.rso", 3, false);}
Wait(SEC_2);
myMotionCommandOn[AXIS1]=false;
myMotionCommandOn[AXIS2]=false;
myMotionCommandOn[AXIS3]=false;
myMotionActive[AXIS1]=false;
myMotionActive[AXIS2]=false;
myMotionActive[AXIS3]=false;
myMotionStandstill[AXIS1]=false;
myMotionStandstill[AXIS2]=false;
myMotionStandstill[AXIS3]=false;
myGlobalPositionSetpointAvailable=true;
myActivityType=ACTIVITY_TEACHPOINT1;
myRequestSingleMotionCommand=false;
myInitItinerary=false;myItineraryActive=false;myInitProgram=false;
myInitHoming=false;myHomingActive=false;myInitMotionAfterHoming=false;myResetHoming=false;
/*
myPointsPosition[ACTIVITY_TEACHPOINT1][AXIS1]=AXIS_TEST_MOTION;
myPointsPosition[ACTIVITY_TEACHPOINT1][AXIS2]=AXIS_TEST_MOTION;
myPointsPosition[ACTIVITY_TEACHPOINT1][AXIS3]=AXIS_TEST_MOTION;
myPointsPosition[ACTIVITY_TEACHPOINT8][AXIS1]=32101;
myPointsPosition[ACTIVITY_TEACHPOINT8][AXIS2]=31415;
myPointsPosition[ACTIVITY_TEACHPOINT8][AXIS3]=66666;
myPointsPosition[ACTIVITY_TEACHPOINT9][AXIS1]=12345;
myPointsPosition[ACTIVITY_TEACHPOINT9][AXIS2]=67890;
myPointsPosition[ACTIVITY_TEACHPOINT9][AXIS3]=98765;
*/
/*
for (int i=0;i<=MAX_POINTS-1;i++){
myPointsPosition[i][AXIS1]=i;
myPointsSpeed[i][AXIS1]=AXIS_TEST_SPEED;
myPointsSpeed[i][AXIS2]=AXIS_TEST_SPEED;
myPointsSpeed[i][AXIS3]=AXIS_TEST_SPEED;
}
*/
}
task main() {
//Initialisation
init();
//Task configuration
Precedes(INPUT,HMI,CONTROL, MOTION_AXIS1,MOTION_AXIS2,MOTION_AXIS3);
}