update

usrc/intelligent_winding_robot_ctrl.cpp

@@ -1,4 +1,5 @@
 #include "intelligent_winding_robot_ctrl.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
 
 #include <stdarg.h>
 #include <stdlib.h>
@@ -20,6 +21,11 @@ using namespace iflytop;
 
 #define PARAM int32_t paramN, const char **paraV, ICmdParserACK *ack
 
+namespace iflytop {
+  extern ZIProtocolProxy g_xyrobotctrlmodule;
+  extern ZIProtocolProxy g_z_step_motor;
+}
+
 void IntelligentWindingRobotCtrl::processError(int32_t err) { ZLOGE(TAG, "processError: %d", err); }
 
 class myexception : public exception {
@@ -167,7 +173,7 @@ class WidthDetector {
             start_run_back();
           }
           // ZLOGI(TAG, "%d",getDetectGPIOState());
-          zos_delay(1);
+          zos_delay(3);
         }
       } else {
         while (!m_detect_thread.getExitFlag()) {
@@ -180,7 +186,7 @@ class WidthDetector {
           } else if (!g_isrunning && getDetectGPIOState() == 0) {
             start_run_forward_slow();
           }
-          zos_delay(1);
+          zos_delay(3);
         }
       }
     });
@@ -392,6 +398,27 @@ int32_t IntelligentWindingRobotCtrl::enable_all_module() {
   { wait_modules_idle(NULL, __VA_ARGS__, NULL); }
 
 int32_t IntelligentWindingRobotCtrl::device_reset() {
+
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_shift, 0);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_shift, 0);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_one_circle_pulse, 7344);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_one_circle_pulse, 7344);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 80);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_dec, 1600);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_speed, 10);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_dec, 1600);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_velocity, 600);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_acc, 1000);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_dec, 1000);
+  g_xyrobotctrlmodule.module_set_param(k_cfg_stepmotor_irun, 4);
+
+  g_xyrobotctrlmodule.module_active_cfg();
+
+  g_z_step_motor.module_set_param(kcfg_motor_x_shift, 0);
+  g_z_step_motor.module_set_param(kcfg_motor_x_one_circle_pulse, 800);
+  g_z_step_motor.module_active_cfg();
+
+
   // ZÖḴλ
   /**
    * @
@@ -980,6 +1007,8 @@ int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalu
 int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
 
 int32_t IntelligentWindingRobotCtrl::start_winding() {  //
+
+
 #if 0
   m_work_thread.start([this]() {
     try {