銆怌odesys銆慏INT绫诲瀷鐜�褰㈣�℃暟澶勭悊锛岃�℃暟鍒�2鐨�64娆℃柟

鏃犲績椋炴壃

鏈�杩戞湁閬囧埌缂栫爜鍣ㄨ�℃暟鐨勮�℃暟澶勭悊锛屾姄鍙栫紪鐮佸櫒閿佸瓨鐨勬暟鍊煎彧鑳藉湪DINT绫诲瀷鑼冨洿鍐咃紝鏄�浠�-2147483648鍒�2147483647鏁板�硷紝浣嗘槸鐜板満浼氭湁姝ｅ悜澶氬湀鐨勬儏鍐点�傛�ゆ椂闇�瑕佽�板綍杩欎釜鏁扮殑浣嶇疆鍊笺�傚氨闇�瑕佽�板綍澶氬湀璁℃暟涓嬶紝鍦堟暟鐨勫�勭悊銆�
PROGRAM FB_DintCirAcc
VAR  
     currentCount :  DINT; // 褰撳墠璁℃暟鍣ㄧ殑鍊�,DINT绫诲瀷鐨勮寖鍥存槸浠�-2147483648鍒�2147483647
     circle1 : ULINT := 0; // 缁忚繃鐨勬瀬闄愬�煎湀鏁�  
     circle2 : ULINT := 0; // 缁忚繃鐨勪竴娆�16浣嶆渶澶у�肩殑鍦堟暟
     maxThreshold :  DINT := 2147470000; // 鎺ヨ繎鏈�澶у�肩殑闃堝��  
     minThreshold :  DINT := -2147470000; // 鎺ヨ繎鏈�灏忓�肩殑闃堝��  
     ZeroThreshold :  DINT := -10000; // 鎺ヨ繎闆跺�肩殑闃堝��  
     approachingMax :  BOOL := FALSE; // 鏍囧織浣嶏紝琛ㄧず鏄�鍚︽帴杩戞渶澶у��  
     approachingMin :  BOOL := FALSE; // 鏍囧織浣嶏紝琛ㄧず鏄�鍚︽帴杩戞渶灏忓��  
     approachingZero :  BOOL := FALSE; // 鏍囧織浣嶏紝琛ㄧず鏄�鍚︽帴杩戦浂鍊�
     LastCount: DINT;//璁板綍涓婁竴鍛ㄧ殑璁℃暟銆�
     bInit: BOOL:=TRUE;  //鍒濆�嬪寲
     bCountStrat: BOOL;    //妯℃嫙寮�濮嬪懆鏈熻�℃暟
     EncoderPos: LREAL;//缂栫爜鍣ㄤ綅缃�
     CalcPos: LREAL;//璁℃暟鍊肩疮鍔犱綅缃�
     ulCurrentCount:ULINT;//绱�鍔犺�℃暟鍊�
     DiffData: DINT;//璐熷悜绱�鍔犲樊鍊�
     UlCirData: ULINT;//璐熷悜鏃跺湀鏁板��
END_VAR  

//妯℃嫙鍏堢粰鏈�澶у�硷紝璺戝埌绗�涓�鍦堢殑鏈�澶у��
IF bInit THEN
     currentCount:=2147400000;
     Encoder.diEncoderPosition:=currentCount;
     bInit:=FALSE;
END_IF
// 鍋囪�綾urrentCount鍦ㄦ瘡涓�鍛ㄦ湡鏇存柊  
IF bCountStrat THEN
     currentCount := currentCount+10000;  
     Encoder.diEncoderPosition:=currentCount;
END_IF

// 妫�娴嬫槸鍚︽帴杩戞渶澶у�兼垨鏈�灏忓��  
IF (currentCount > maxThreshold) AND NOT approachingMax THEN  
     // 寮�濮嬫帴杩戞渶澶у��  
     approachingMax := TRUE;  
ELSIF currentCount>0 AND  (currentCount <= maxThreshold) AND approachingMax THEN  
     // 涓嶅啀鎺ヨ繎鏈�澶у��  
     approachingMax := FALSE;  
END_IF  
// 妫�娴嬫槸鍚︽帴杩戞渶澶у�兼垨鏈�灏忓��
IF (currentCount < minThreshold) AND NOT approachingMin THEN  
     // 寮�濮嬫帴杩戞渶灏忓��  
     approachingMin := TRUE;  
ELSIF currentCount<0 AND (currentCount >= minThreshold) AND approachingMin THEN  
     // 涓嶅啀鎺ヨ繎鏈�灏忓��  
     approachingMin := FALSE;  
END_IF  
// 妫�娴嬭礋鍊肩疮鍔犳槸鍚︽帴杩�0鍊笺��  
IF (currentCount < ZeroThreshold)
     AND (currentCount>(ZeroThreshold*2))
     AND NOT approachingZero THEN  
     // 寮�濮嬫帴杩戞渶灏忓��  
     approachingZero := TRUE;  
END_IF  
// 妫�娴嬫槸鍚︿粠鎺ヨ繎鏈�澶у�艰繃娓″埌鎺ヨ繎鏈�灏忓�硷紝绱�鍔犱竴娆¤�℃暟
IF approachingMax AND approachingMin THEN  
     // 浠庢渶澶у�艰繃娓″埌鏈�灏忓�硷紝璁′负涓�鍦�  
     circle1 := circle1 + 1;  
     circle2    := circle2 + 1;
     approachingMax := FALSE; // 閲嶇疆鎺ヨ繎鏈�澶у�肩殑鏍囧織  
     approachingMin := FALSE; // 閲嶇疆鎺ヨ繎鏈�灏忓�肩殑鏍囧織  
END_IF  
// 妫�娴嬫槸鍚︿粠鎺ヨ繎0鍊硷紝绱�鍔犱竴娆¤�℃暟
IF approachingZero AND currentCount>0 THEN
     circle2    := circle2 + 1;
     approachingZero:=FALSE;
END_IF
Encoder.iTurn;
IF  circle1 = 0 THEN
     ulCurrentCount:=(currentCount);
ELSE
     IF currentCount>0 THEN
         ulCurrentCount:=(circle2*2147483647)+DINT_TO_ULINT(currentCount);
     ELSE
         IF circle1=1 THEN
             DiffData:=ABS((2147483647-currentCount));
             UlCirData:=(circle1*2147483647);
             ulCurrentCount:=DINT_TO_ULINT(DiffData)+UlCirData;
         ELSIF circle1>1 THEN
             DiffData:=ABS((2147483647-currentCount));
             UlCirData:=(((circle1*2)-1)*2147483647);
             ulCurrentCount:=DINT_TO_ULINT(DiffData)+UlCirData;
         END_IF
     END_IF
END_IF
EncoderPos:=Encoder.fActPosition;
CalcPos:=(ulCurrentCount*97.456)/10000;