p_Intelligent_winding_robot_v2
/
Intelligent_winding_robot_main_board
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
3a24d3d45a
commit
095f1035ec
4 changed files with 311 additions and 8 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      sdk
  2. 118
      usrc/intelligent_winding_robot_ctrl.cpp
  3. 161
      usrc/intelligent_winding_robot_ctrl.hpp
  4. 38
      usrc/main.cpp

2
sdk

@ -1 +1 @@
Subproject commit 089069f6ef3ae015b315835f83f520e800b785b1
Subproject commit e06be65d256688d5ab0018e4d195352654081205

118
usrc/intelligent_winding_robot_ctrl.cpp
View File

@ -0,0 +1,118 @@
#include "intelligent_winding_robot_ctrl.hpp"
#include <stdlib.h>
using namespace std;
using namespace iflytop;
#define TAG "IntelligentWindingRobotCtrl"
int32_t IntelligentWindingRobotCtrl::initialize_device() { return 0; }
// 排废舵机
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_press() { return 0; }
/**
* @brief 绕线探测舵机
*/
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_get_thickness() { return 0; }
/**
* @brief 压线舵机
*/
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_press_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_wait_for_press_pos() { return 0; }
/**
* @brief 线拉紧舵机
*/
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_reset() { return 0; } // 零位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_line_entry_pos() { return 0; } // 入线位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_tight_line_pos() { return 0; } // 拉线位置
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_loose_line_pos() { return 0; } // 放线位置
/**
* @brief 夹线舵机
*/
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_clamp_pos() { return 0; }
/**
* @brief 剪刀
*/
int32_t IntelligentWindingRobotCtrl::scissors_move_reset_pos() { return 0; } // block
int32_t IntelligentWindingRobotCtrl::scissors_cut() { return 0; } // block
/**
* @brief 机械臂夹线舵机
*/
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_clamp_pos() { return 0; }
/**
* @brief 机械臂钩爪
*/
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_half_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_full_pos() { return 0; }
/**
* @brief XY平台
*/
int32_t IntelligentWindingRobotCtrl::xy_platform_reset() { return 0; }
/**
* @brief Z轴
*/
int32_t IntelligentWindingRobotCtrl::z_axis_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::z_axis_move_to(int32_t pos) { return 0; }
int32_t IntelligentWindingRobotCtrl::xy_reset() { return 0; } // 复位
int32_t IntelligentWindingRobotCtrl::xy_move_to_zero() { return 0; } // 移动到零位
int32_t IntelligentWindingRobotCtrl::xy_take_clip(int32_t index) { return 0; } // 取弹夹
int32_t IntelligentWindingRobotCtrl::xy_take_line() { return 0; } // 取线
int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; } // 放弹夹
int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; } // 移除线
/**
* @brief
*/
int32_t IntelligentWindingRobotCtrl::start_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::stop_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::reset_and_check_device() { return 0; }
int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalue) { return 0; }
int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
int32_t IntelligentWindingRobotCtrl::initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse) {
m_dm = dm;
m_cmdparse = cmdparse;
cmdparse->regCMD("paifei_duoji_moveto_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_reset(); });
cmdparse->regCMD("paifei_duoji_moveto_press", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_press(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_reset(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_get_thickness", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_get_thickness(); });
cmdparse->regCMD("yaxian_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_reset(); });
cmdparse->regCMD("yaxian_duoji_move_to_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_press_pos(); });
cmdparse->regCMD("yaxian_duoji_move_to_wait_for_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_wait_for_press_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_reset(); });
cmdparse->regCMD("xianlajin_duoji_move_to_line_entry_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_line_entry_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_tight_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_tight_line_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_loose_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_loose_line_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("scissors_move_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_move_reset_pos(); });
cmdparse->regCMD("scissors_cut", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_cut(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("arm_hook_claws_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_reset(); });
cmdparse->regCMD("arm_hook_claws_move_to_half_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_half_pos(); });
cmdparse->regCMD("arm_hook_claws_move_to_full_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_full_pos(); });
cmdparse->regCMD("xy_platform_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_platform_reset(); });
cmdparse->regCMD("z_axis_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_reset(); });
cmdparse->regCMD("z_axis_move_to", "(int32_t pos)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_move_to(atoi(paraV[0])); });
cmdparse->regCMD("xy_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_reset(); });
cmdparse->regCMD("xy_move_to_zero", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_move_to_zero(); });
cmdparse->regCMD("xy_take_clip", "(int32_t index)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_clip(atoi(paraV[0])); });
cmdparse->regCMD("xy_take_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_line(); });
cmdparse->regCMD("xy_take_back_clip", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_back_clip(); });
cmdparse->regCMD("xy_remove_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_remove_line(); });
cmdparse->regCMD("start_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return start_winding(); });
cmdparse->regCMD("stop_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return stop_winding(); });
cmdparse->regCMD("reset_and_check_device", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return reset_and_check_device(); });
cmdparse->regCMD("setcfg", "(const char* cfgname, int32_t cfgvalue)", 2, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return setcfg(paraV[0], atoi(paraV[1])); });
cmdparse->regCMD("dumpcfg", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return dumpcfg(); });
return 0;
}

161
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -0,0 +1,161 @@
#pragma once
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
namespace iflytop {
using namespace std;
class IntelligentWindingRobotCtrl {
public:
typedef struct {
/**
* @brief 排废舵机
*/
int32_t paifei_duoji_reset_pos;
int32_t paifei_duoji_press_pos;
int32_t paifei_duoji_press_torque;
/**
* @brief 绕线探测舵机
*/
int32_t raoxiantance_duoji_reset_pos;
int32_t raoxiantance_duoji_tance_zero_pos;
/**
* @brief 压线舵机
*/
int32_t yaxian_duoji_reset_pos;
int32_t yaxian_duoji_press_pos;
int32_t yaxian_duoji_press_torque;
int32_t yaxian_duoji_wait_for_press_pos;
/**
* @brief 线拉紧舵机
*/
int32_t xianlajin_duoji_reset_pos;
int32_t xianlajin_duoji_line_entry_pos;
int32_t xianlajin_duoji_tight_line_pos;
int32_t xianlajin_duoji_loose_line_pos;
/**
* @brief 线夹紧舵机
*/
int32_t jiaxian_duoji_reset_pos;
int32_t jiaxian_duoji_clamp_pos;
int32_t jiaxian_duoji_clamp_torque;
/**
* @brief 机械臂夹线舵机
*/
int32_t arm_jiaxian_duoji_reset_pos;
int32_t arm_jiaxian_duoji_clamp_pos;
int32_t arm_jiaxian_duoji_clamp_torque;
/**
* @brief 剪刀
*/
int32_t scissors_reset_pos;
int32_t scissors_cut_pos;
/**
* @brief 钩爪
*/
int32_t arm_hook_claws_half_pos;
int32_t arm_hook_claws_full_pos;
/**
* @brief Z轴定位
*/
int32_t z_axis_take_line_pos;
int32_t z_axis_take_clip_pos;
int32_t z_axis_winding_hight;
/**
* @brief XY平台
*/
int32_t xy_platform_winding_pos_x;
int32_t xy_platform_winding_pos_y;
int32_t xy_platform_takeline_pos_x;
int32_t xy_platform_takeline_pos_y;
} config_t;
ZModuleDeviceManager* m_dm;
ICmdParser* m_cmdparse;
public:
int32_t initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse);
int32_t initialize_device();
// 排废舵机
int32_t paifei_duoji_moveto_reset();
int32_t paifei_duoji_moveto_press();
/**
* @brief 绕线探测舵机
*/
int32_t raoxiantance_duoji_move_to_reset();
int32_t raoxiantance_duoji_move_to_get_thickness();
/**
* @brief 压线舵机
*/
int32_t yaxian_duoji_move_to_reset();
int32_t yaxian_duoji_move_to_press_pos();
int32_t yaxian_duoji_move_to_wait_for_press_pos();
/**
* @brief 线拉紧舵机
*/
int32_t xianlajin_duoji_move_to_reset(); // 零位
int32_t xianlajin_duoji_move_to_line_entry_pos(); // 入线位
int32_t xianlajin_duoji_move_to_tight_line_pos(); // 拉线位置
int32_t xianlajin_duoji_move_to_loose_line_pos(); // 放线位置
/**
* @brief 夹线舵机
*/
int32_t jiaxian_duoji_move_to_reset_pos();
int32_t jiaxian_duoji_move_to_clamp_pos();
/**
* @brief 剪刀
*/
int32_t scissors_move_reset_pos(); // block
int32_t scissors_cut(); // block
/**
* @brief 机械臂夹线舵机
*/
int32_t arm_jiaxian_duoji_move_to_reset_pos();
int32_t arm_jiaxian_duoji_move_to_clamp_pos();
/**
* @brief 机械臂钩爪
*/
int32_t arm_hook_claws_reset();
int32_t arm_hook_claws_move_to_half_pos();
int32_t arm_hook_claws_move_to_full_pos();
/**
* @brief XY平台
*/
int32_t xy_platform_reset();
/**
* @brief Z轴
*/
int32_t z_axis_reset();
int32_t z_axis_move_to(int32_t pos);
int32_t xy_reset(); // 复位
int32_t xy_move_to_zero(); // 移动到零位
int32_t xy_take_clip(int32_t index); // 取弹夹
int32_t xy_take_line(); // 取线
int32_t xy_take_back_clip(); // 放弹夹
int32_t xy_remove_line(); // 移除线
/**
* @brief
*/
int32_t start_winding();
int32_t stop_winding();
int32_t reset_and_check_device();
int32_t setcfg(const char* cfgname, int32_t cfgvalue);
int32_t dumpcfg();
};
} // namespace iflytop

38
usrc/main.cpp
View File

@ -26,6 +26,8 @@
// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
#include "intelligent_winding_robot_ctrl.hpp"
#include "sdk\components\taojingchi_screen\taojingchi_screen_service.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
@ -141,13 +143,15 @@ namespace iflytop {
/*******************************************************************************
* 基础组件 *
*******************************************************************************/
ZCanCommnaderMaster m_zcanCommnaderMaster; // can总线
ModbusBlockHost g_modbusblockhost; // modbus总线
FeiTeServoMotor g_feiteservomotor_bus; // 飞特舵机总线
ZModuleDeviceManager g_zmodule_device_manager; // 用于管理所有的设备
StepMotor45Scheduler step_motor45_scheduler; // 45步进电机调度器
CmdSchedulerV2 g_cmdScheduler; // 串口字符串指令总线
ZCanCommnaderMaster m_zcanCommnaderMaster; // can总线
ModbusBlockHost g_modbusblockhost; // modbus总线
FeiTeServoMotor g_feiteservomotor_bus; // 飞特舵机总线
ZModuleDeviceManager g_zmodule_device_manager; // 用于管理所有的设备
TaoJingChiScreenService g_taojingchi_screen_service; // 淘精驰屏幕服务
MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser; // 用于解析所有的设备指令
StepMotor45Scheduler step_motor45_scheduler; // 45步进电机调度器
/*******************************************************************************
* 本地设备 *
@ -161,6 +165,8 @@ MiniRobotCtrlModule g_mini_servo[6];
ZIProtocolProxy g_xyrobotctrlmodule;
ZIProtocolProxy g_z_step_motor;
IntelligentWindingRobotCtrl g_intelligent_winding_robot_ctrl;
} // namespace iflytop
extern "C" {
@ -185,7 +191,6 @@ void Main::run() {
/*******************************************************************************
* 总线初始化 *
*******************************************************************************/
g_cmdScheduler.initialize(&DEBUG_UART, 1000); // 串口字符串指令总线
auto* cfg = m_zcanCommnaderMaster.createCFG(); // can总线配置
m_zcanCommnaderMaster.init(cfg); // can总线
g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); // modbus总线
@ -194,7 +199,6 @@ void Main::run() {
// 设备管理器初始化
g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster);
// 设备指令解析器初始化
g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);
/*******************************************************************************
* 设备构造和初始化 *
@ -228,6 +232,26 @@ void Main::run() {
g_zmodule_device_manager.registerModule(&g_step_motor45[1]);
g_zmodule_device_manager.registerModule(&g_step_motor45[2]);
g_intelligent_winding_robot_ctrl.initialize(&g_zmodule_device_manager, &g_cmdScheduler);
/*******************************************************************************
* 串口字符串指令总线 *
*******************************************************************************/
g_cmdScheduler.initialize(&DEBUG_UART, 1000); //
g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);
g_taojingchi_screen_service.initialize(
&huart5, 1,
/**
* @brief 私有协议解析
*/
[this](const char* cmd, int32_t paramN, const char** paraV) { //
ZLOGI(TAG, "process cmd:%s", cmd);
},
/**
* @brief 陶晶驰消息解析
*/
[this](uint8_t* data, size_t len) {});
#if 0
step_motor_cmd_reg();
#endif

Write Preview
Loading…
Cancel
Save