update

sdk

@@ -1 +1 @@
-Subproject commit 6f0261f5f4f830c9550baa775b5eff6f7015b2e9
+Subproject commit bb019caee2d1089382b2ffd4811d178e4d63fb02

usrc/main.cpp

@@ -6,15 +6,22 @@
 //
 #include "feite_servo_motor.hpp"
 #include "sdk/os/zos.hpp"
+//
 #include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
 #include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
 #include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
-#include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
 #include "sdk\components\step_motor_45\step_motor_45.hpp"
 #include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
 #include "sdk\components\zcancmder\zcanreceiver_master.hpp"
-#include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
+//
+#include "sdk\components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
+#include "sdk\components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
+#include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
+#include "sdk\components/xy_robot_ctrl_module/zcan_xy_robot_master_module.hpp"
+// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
+// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
+// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
 
 #define TAG "main"
 namespace iflytop {
@@ -123,16 +130,19 @@ static StepMotor45::cfg_t cfg6 = {
  *                                    ´úÂë                                     *
  *******************************************************************************/
 namespace iflytop {
-StepMotor45              g_step_motor45[7];
-StepMotor                g_step_motor[10];
-ZCanCommnaderMaster      m_zcanCommnaderMaster;
-CmdScheduler             cmdScheduler;
-XYRobotScriptCmderModule xyRobotScriptCmderModule;
+StepMotor45                    g_step_motor45[7];
+StepMotor                      g_step_motor[10];
+ZCanCommnaderMaster            m_zcanCommnaderMaster;
+CmdScheduler                   cmdScheduler;
+XYRobotScriptCmderModule       xyRobotScriptCmderModule;
+StepMotorCtrlScriptCmderModule stepMotorCtrlScriptCmderModule;
+
+I_XYRobotCtrlModule*   g_xyrobotctrlmodule   = nullptr;
+I_StepMotorCtrlModule* g_stepmotorctrlmodule = nullptr;
 
-ModbusBlockHost      g_modbusblockhost;
-Eq20ServoMotor       g_eq20servomotor;
-FeiTeServoMotor      g_feiteservomotor;
-I_XYRobotCtrlModule* g_xyrobotctrlmodule = nullptr;
+ModbusBlockHost g_modbusblockhost;
+Eq20ServoMotor  g_eq20servomotor;
+FeiTeServoMotor g_feiteservomotor;
 
 }  // namespace iflytop
 
@@ -215,12 +225,18 @@ void        Main::run() {
   auto* cfg = m_zcanCommnaderMaster.createCFG();
   m_zcanCommnaderMaster.init(cfg);
   g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
-  g_xyrobotctrlmodule->enable(false);
+  // g_xyrobotctrlmodule->enable(false);
+
+  g_stepmotorctrlmodule = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
+  // g_stepmotorctrlmodule->rotate(300000, 0, [this](int32_t end) {});
 
   cmdScheduler.initialize(&DEBUG_UART, 1000);
   xyRobotScriptCmderModule.initialize(&cmdScheduler);
   xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule);
 
+  stepMotorCtrlScriptCmderModule.initialize(&cmdScheduler);
+  stepMotorCtrlScriptCmderModule.regmodule(1, g_stepmotorctrlmodule);
+
   regfn();
 
 #if 0