update

usrc/intelligent_winding_robot_ctrl.cpp

@@ -94,6 +94,7 @@ void IntelligentWindingRobotCtrl::regcb() {
   // m_cmdparse->regCMD("xy_run_to_clip_pos_test", "()", 1, [this](PARAM) { return xy_run_to_clip_pos_test(atoi(paraV[0])); });
   m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
   m_cmdparse->regCMD("step_prepare_remove_line", "()", 0, [this](PARAM) { return step_prepare_remove_line(); });
+  m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
 
   // m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
 
@@ -346,14 +347,14 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line() {
    *
    *        <------------------point1()
    * removeLinePos            ^
-   *                          |2723
+   *                          |2723 // 20mm
    *                          |
    *                        COOK()
    *
    *
    */
   if (is_hasbullet()) {
-    xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y - 2723);
+    xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623);
     WAIT_MODULES_IDLE(3);
     xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_remove_line_pos_y);
     WAIT_MODULES_IDLE(3);
@@ -372,12 +373,30 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line() {
     /**
      * @brief TODO:如果需要在这里放回子弹壳
      */
+  } else {
+    /**
+     * @brief TODO:如果没有子弹，需要在这里做的事情
+     */
   }
+}
+
+int32_t IntelligentWindingRobotCtrl::step_remove_line() {
+  start_probe_bullet_pos();
+  m15_paifei_moveto_press();
+  WAIT_MODULES_IDLE(15);
 
-  // XY移动
-  // xymove_to();
+  m_dm->motor_rotate_acctime(2, -1, 1000, 1000);
 
-  // is_hasbullet
+  /**
+   * @TODO:添加排线结束检测
+   */
+  for (size_t i = 0; i < 10; i++) {
+    osDelay(1000);
+  }
+  m_dm->module_stop(2);
+  stop_probe_bullet_pos();
+  m15_paifei_moveto_reset();
+  return 0;
 }
 
 int32_t IntelligentWindingRobotCtrl::main_shaft_run() {

usrc/intelligent_winding_robot_ctrl.hpp

@@ -163,6 +163,7 @@ class IntelligentWindingRobotCtrl {
 
   int32_t step_take_bullet(int32_t bulletindex);
   int32_t step_prepare_remove_line();
+  int32_t step_remove_line();
 
   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