三层电梯状态机.docx

发布时间：2022-06-08 发布人：admin 分类：说明书资料大小：0.10M 资料格式：docx 举报版权申诉

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Movingup、movingdown

三层电梯状态机课程设计报告状态机图 Movingdown Movingup Dooropen Doorclosing

流程图 Idle Idle Yes SetMotorPower(1) floor > 0 && up Movingup No floor > 0 && !up No Yes SetMotorPower(-1) 1：SetDoor(floor, 1); :2：SetOpenDoorLight(0) Yes GetOpenDoorLight() Movingdown Dooropen GetCloseDoorLight() Idle

Movingup、movingdown SetMotorPower(0); SetDoor(floor, 1); Yes Movingup fabs(GetFloor() - floor) < Lib_FloorTolerance No fabs(GetFloor() - 3) < Lib_FloorTolerance GetOpenDoorLight(); SetOpenDoorLight(0); GetCloseDoorLight(); SetCloseDoorLight(0) Yes No SetCallLight SetCallLight no Dooropen

Dooropen Yes SetCloseDoorLight(0); SetDoor(floor, 0); Dooropen GetCloseDoorLight() No (IsDoorOpen(floor) SetOpenDoorLight(0) No Yes SetDoor(floor, 0) Doorclosing Dooropen 状态

void StateIdle(int *state) { int floor; bool up; floor = IdleWhatFloorToGoTo(&up); if (floor > 0 && up) { SetMotorPower(1); *state = MovingUp; }//电梯准备上升 else if (floor > 0 && !up) { SetMotorPower(-1); *state = MovingDown; }//电梯准备下降 if (GetOpenDoorLight()) { SetDoor(floor, 1); SetOpenDoorLight(0); *state = DoorOpen; }// 电梯内开门 if (GetCloseDoorLight()) { SetCloseDoorLight(0); return; }//电梯关闭 } void StateMovingUp(int *state) { int floor; bool up; floor = GoingUpToFloor(); if (fabs(GetFloor() - floor) < Lib_FloorTolerance) { SetMotorPower(0); SetDoor(floor, 1); *state = DoorOpen; if (fabs(GetFloor() - 3) < Lib_FloorTolerance) SetCallLight(floor, 0, 0); SetCallLight(floor, 1, 0); SetPanelFloorLight(floor, 0); }//开门 else { GetOpenDoorLight(); SetOpenDoorLight(0);

GetCloseDoorLight(); SetCloseDoorLight(0); }//安全设置，无动作 } void StateMovingDown(int *state) { int floor; bool up; floor = GoingDownToFloor(); if (fabs(GetFloor() - floor) < Lib_FloorTolerance) { SetMotorPower(0); SetDoor(floor,1); *state = DoorOpen; if (fabs(GetFloor() - 1) < Lib_FloorTolerance) SetCallLight(floor, 1, 0); SetCallLight(floor, 0, 0); SetPanelFloorLight(floor, 0); GetNearestFloor(); }//下降后开门 else { GetOpenDoorLight(); SetOpenDoorLight(0); GetCloseDoorLight(); SetCloseDoorLight(0); }//关灯 } void StateDoorOpen(int *state) { int floor; bool up; floor=GetNearestFloor(); if (GetCloseDoorLight()) { SetCloseDoorLight(0); SetDoor(floor, 0); *state = DoorClosing; }//正在开门，按关门，关门 if (IsDoorOpen(floor)) { SetDoor(floor, 0); *state = DoorClosing; }//开门完，直接关门 if (GetOpenDoorLight())

{ SetOpenDoorLight(0); }//开门时，按开门，无动作 } void StateDoorClosing(int *state) { int floor; bool up; floor=GetNearestFloor(); if (GetOpenDoorLight()) { SetOpenDoorLight(0); SetDoor(floor, 1); *state = DoorOpen; }//正在关门，按开门，开门 else if (GetCloseDoorLight()) { SetCloseDoorLight(0); }//正在关门，按关门，无动作 else if (IsBeamBroken()) { SetDoor(floor,1); *state = DoorOpen; }//门口有东西挡住，自动上升 else if (IsDoorClosed(floor)) { *state = Idle; }//关门后待机 }

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