From 28563dc311085d3ded9590d5e42d7afa8164d820 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 23 Oct 2023 14:26:08 +0800 Subject: [PATCH] udpate --- sdk | 2 +- usrc/script_reg.cpp | 44 ++++++++++++++++++++++++++++++++++++++++++-- 2 files changed, 43 insertions(+), 3 deletions(-) diff --git a/sdk b/sdk index 4257580..c31beef 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 4257580790dc2dda82d0b03a1323746f321331b3 +Subproject commit c31beefe2b25c62beb4e5d17f85710cc7214850e diff --git a/usrc/script_reg.cpp b/usrc/script_reg.cpp index c170559..9dfb528 100644 --- a/usrc/script_reg.cpp +++ b/usrc/script_reg.cpp @@ -38,7 +38,7 @@ extern Main gmain; using namespace iflytop; using namespace std; - +#define TAG "CMD" extern "C" {} /******************************************************************************* * ÅäÖÃ * @@ -236,9 +236,49 @@ void script_reg_fn() { }); g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { - int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(4, 0, 0, 0, 0); + int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(4, 450, 300, 2000, 0); + ack->setNoneAck(ecode); + }); + + g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero_with_calibrate", "(id,x)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { + int32_t x = atoi(paraV[1]); + int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward_and_calculated_shift(4, 0, 0, 0, 0); ack->setNoneAck(ecode); }); + g_cmdScheduler.regCMD("step_motor_ctrl_read_detailed_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { + // g_zmodule_device_script_cmder_paser.motor_read_pos(4); + }); + + g_cmdScheduler.regCMD("step_motor_ctrl_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { + // g_zmodule_device_script_cmder_paser.motor_read_pos(4); + + // + + int32_t pos; + int32_t errocode; + int32_t status; + + g_zmodule_device_manager.motor_read_pos(4, &pos); + g_zmodule_device_manager.module_get_error(4, &errocode); + g_zmodule_device_manager.module_get_status(4, &status); + + ZLOGI(TAG, "pos:%d,errocode:%d,status:%d", pos, errocode, status); + + }); + + // g_cmdScheduler.regCMD("step_motor_ctrl_rotate", "(id,speed,lastforms)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { + // int32_t speed = atoi(paraV[1]); + // int32_t lastforms = atoi(paraV[2]); + // int32_t direction = speed > 0 ? 1 : -1; + // int32_t ecode = g_zmodule_device_manager.motor_rotate(4,direction ,abs(speed), lastforms); + // ack->setNoneAck(ecode); + // }); + + g_cmdScheduler.regCMD("step_motor_ctrl_stop", "(id,stop_type)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { + int32_t stop_type = atoi(paraV[1]); + int32_t ecode = g_zmodule_device_manager.module_stop(4); + ack->setNoneAck(ecode); + }); }