add: 新增MID

src/main/java/com/iflytop/gd/hardware/controller/IOController.java

@@ -0,0 +1,5 @@
+package com.iflytop.gd.hardware.controller;
+
+// TODO:
+public class IOController {
+}

src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java

@@ -248,4 +248,16 @@ public class StepMotorController {
     public Integer readEncPos(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         return stepMotorService.readEncPos(deviceId);
     }
+
+    @PostMapping("/read-zero-sensor")
+    @Operation(summary = "读取零点光电")
+    public Boolean readZeroSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+        return stepMotorService.readIoState(deviceId, 0);
+    }
+    @PostMapping("/read-limit-sensor")
+    @Operation(summary = "读取限位光电")
+    public Boolean readLimitSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+        return stepMotorService.readIoState(deviceId, 1);
+    }
+
 }

src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/MiniServoMId.java

@@ -4,8 +4,8 @@ import com.iflytop.gd.hardware.type.MId;
 
 public enum MiniServoMId {
 	NotSet(MId.NotSet),//
-	DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1M),//
-	DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2M),
+	DUAL_ROBOT_AXIS1_MID(MId.DualRobotAxis1S),//
+	DUAL_ROBOT_AXIS2_MID(MId.DualRobotAxis2S),
 	CLAW_MID(MId.HBotClawS)
 	;
 

src/main/java/com/iflytop/gd/hardware/service/IOService.java

@@ -0,0 +1,5 @@
+package com.iflytop.gd.hardware.service;
+
+// TODO:
+public class IOService {
+}

src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java

@@ -247,4 +247,12 @@ public class StepMotorService {
         }
         return stepMotorCtrlDriver_.getAllReg(stepId);
     }
+
+    public Boolean readIoState(DeviceStepMotorId id, Integer ioindex) throws HardwareException {
+        StepMotorMId stepId = id.getStepMotorMId();
+        if (stepId == null) {
+            throwDeviceNull(id);
+        }
+        return stepMotorCtrlDriver_.stepMotorReadIoState(stepId, ioindex);
+    }
 }

src/main/java/com/iflytop/gd/hardware/type/MId.java

@@ -6,6 +6,8 @@ public enum MId {
     PWMLight(11, "PWM 灯"),
     TriColorLight(12, "三色灯"),
     HBotClawS(13, "夹爪舵机"),//
+    DualRobotAxis1S(14, "双轴机械臂1舵机"),
+    DualRobotAxis2S(15, "双轴机械臂2舵机"),
 
     IO2Board(30, "台下 IO 板模块"),
 

src/main/resources/application-dev.yml

@@ -36,6 +36,6 @@ command_bus:
 device.enableCanBus: true
 
 iflytophald:
-  ip: 192.168.1.140
+  ip: 192.168.8.168
   cmdch.port: 19004
   datach.port: 19005