update

sdk

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

usrc/intelligent_winding_robot_ctrl.cpp

@@ -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));

usrc/intelligent_winding_robot_ctrl.hpp

@@ -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