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Intelligent_winding_robot_main_board
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zhaohe 2 years ago
parent
34c66e4991
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1e5ea0166a
3 changed files with 29 additions and 10 deletions
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  1. 2
      sdk
  2. 36
      usrc/intelligent_winding_robot_ctrl.cpp
  3. 1
      usrc/intelligent_winding_robot_ctrl.hpp

2
sdk

@ -1 +1 @@
Subproject commit a2715e8c3078ed9ba6ab10f1f270e6e7cd1f2a5c
Subproject commit a3908e8598d72d2a334ddef95a5578b7d8ba8770

36
usrc/intelligent_winding_robot_ctrl.cpp
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@ -65,9 +65,9 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
cfg.m16_xianlajin_reset_pos = 2047;
cfg.m16_xianlajin_tight_line_pos = 1966;
cfg.m16_xianlajin_winding_low_pos = 1900;
cfg.m16_xianlajin_winding_up_pos = 1865;
cfg.m16_xianlajin_line_entry_pos = 1833;
cfg.m16_xianlajin_winding_low_pos = 1885;
cfg.m16_xianlajin_winding_up_pos = 1835;
cfg.m16_xianlajin_line_entry_pos = 1800;
cfg.m21_arm_hook_claws_full_pos = 2558;
cfg.m21_arm_hook_claws_half_pos = 2294;
@ -101,7 +101,8 @@ void IntelligentWindingRobotCtrl::regcb() {
m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) { return step_prepare_remove_line(atoi(paraV[0])); });
m_cmdparse->regCMD("step_winding_prepare", "()", 1, [this](PARAM) { return step_winding_prepare(); });
m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); });
m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
// m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
@ -269,8 +270,8 @@ int32_t IntelligentWindingRobotCtrl::m15_paifei_moveto_press() { return m_dm->mo
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_reset() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_reset_pos, 300, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_tight_line_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_tight_line_pos, 100, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_winding_low_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_winding_low_pos, 100, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_winding_up_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_winding_up_pos, 100, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_line_entry_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_line_entry_pos, 100, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_winding_up_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_winding_up_pos, 20, 0); }
int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_line_entry_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_line_entry_pos, 20, 0); }
int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); }
int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); }
@ -433,6 +434,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
WAIT_MODULES_IDLE(4);
xymove_to(cfg.xy_platform_takeline_pos_x, cfg.xy_platform_takeline_pos_y);
m16_xianlajin_move_to_line_entry_pos();
WAIT_MODULES_IDLE(3);
// 线夹张开
@ -451,9 +453,6 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
m12_jiaxian_move_to_open_pos();
WAIT_MODULES_IDLE(12);
// 移动到转移线高度
m16_xianlajin_move_to_line_entry_pos();
WAIT_MODULES_IDLE(16);
m4_zmove_to(cfg.z_axis_transfer_line_high);
WAIT_MODULES_IDLE(4);
@ -468,14 +467,33 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
WAIT_MODULES_IDLE(13);
m11_arm_jiaxian_move_to_reset_pos();
WAIT_MODULES_IDLE(11);
m16_xianlajin_move_to_tight_line_pos();
m4_zmove_to(0);
osDelay(500);
WAIT_MODULES_IDLE(4);
xymove_to(0, 0);
WAIT_MODULES_IDLE(16);
// WAIT_MODULES_IDLE(13);
}
int32_t IntelligentWindingRobotCtrl::step_winding() {
m_dm->motor_rotate_acctime(2, 1, 1000, 10000);
osDelay(1000);
for (size_t i = 0; i < 60; i++) {
m16_xianlajin_move_to_winding_low_pos();
WAIT_MODULES_IDLE(16);
m16_xianlajin_move_to_winding_up_pos();
WAIT_MODULES_IDLE(16);
}
m_dm->module_stop(2);
m_dm->motor_move_to_zero_forward(2, 2, 2, 0, 0);
wait_module_idle(2);
ZLOGI(TAG, "step_winding end....");
return 0;
}
int32_t IntelligentWindingRobotCtrl::main_shaft_run() {
ZLOGI(TAG, "main_shaft_run");
DO(m_dm->motor_rotate_acctime(2, 1, 1000, 10000));

1
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -174,6 +174,7 @@ class IntelligentWindingRobotCtrl {
int32_t step_prepare_remove_line(int32_t bulletindex);
int32_t step_remove_line();
int32_t step_winding_prepare();
int32_t step_winding();
int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // È¡µ¯¼Ð
int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true); // È¡µ¯¼Ð

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