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update

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zhaohe 2 years ago
parent
2ec1426ca2
commit
8d70d8684d
6 changed files with 374 additions and 41 deletions
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  1. 4
      .settings/language.settings.xml
  2. 85
      README.md
  3. 2
      sdk
  4. 92
      usrc/intelligent_winding_robot_ctrl.cpp
  5. 9
      usrc/intelligent_winding_robot_ctrl.hpp
  6. 223
      usrc/main.cpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-622244553529563973" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1057391452571803630" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-622244553529563973" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1057391452571803630" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

85
README.md
View File

@ -40,3 +40,88 @@ step_motor_rotate 2 0
¶æ»úÖ¸Áî
```
eq20_enable (id,en)
eq20_get_io_state (id)
eq20_get_pos (id)
eq20_get_servo_internal_state (id)
eq20_move_by (id,pos,rpm,acctime)
eq20_move_to (id,pos,rpm,acctime)
eq20_move_to_zero_backward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_move_to_zero_forward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_read_pn (id,pnadd)
eq20_read_pn_bit (id,pnadd,off)
eq20_read_reg (id,regadd)
eq20_read_reg_bit (id,regadd,off)
eq20_rotate (id,rpm,acctime)
eq20_stop (id)
eq20_write_pn (id,pnadd,value)
eq20_write_pn_bit (id,pnadd,off,value)
eq20_write_reg (id,regadd,value)
eq20_write_reg_bit (id,regadd,off,value)
mini_servo_enable (id,en)
mini_servo_get_basic_param (id)
mini_servo_move_backward (id,torque)
mini_servo_move_by (id,pos,speed,torque)
mini_servo_move_forward (id,torque)
mini_servo_move_to (id,pos,speed,torque)
mini_servo_position_calibrate (id,pos)
mini_servo_read_detailed_status (id)
mini_servo_read_status (id)
mini_servo_read_version (id)
mini_servo_rotate (id,speed,torque,time)
mini_servo_stop (id,stop_type)
sleep_ms (ms)
step_motor_45_get_default_speed (id)
step_motor_45_get_pos (id)
step_motor_45_get_zero_pin_state (id,pos)
step_motor_45_is_reach_target_pos (id)
step_motor_45_move_by (id,pos)
step_motor_45_move_to (id,pos)
step_motor_45_rotate (id,direction)
step_motor_45_set_default_speed (id,speed)
step_motor_45_set_pos (id,pos)
step_motor_45_stop (id)
step_motor_45_zero_calibration (id)
step_motor_ctrl_enable (id,en)
step_motor_ctrl_factory_reset (id)
step_motor_ctrl_flush (id)
step_motor_ctrl_force_change_current_pos (id,x)
step_motor_ctrl_get_base_param (id)
step_motor_ctrl_get_last_exec_status (id)
step_motor_ctrl_get_logic_point (id,logic_point_id)
step_motor_ctrl_is_busy (id)
step_motor_ctrl_move_by (id,dx,speed)
step_motor_ctrl_move_to (id,x,speed)
step_motor_ctrl_move_to_logic_point (id,logic_point_id)
step_motor_ctrl_move_to_zero (id)
step_motor_ctrl_move_to_zero_with_calibrate (id,x)
step_motor_ctrl_read_detailed_status (id)
step_motor_ctrl_read_status (id)
step_motor_ctrl_read_version (id)
step_motor_ctrl_rotate (id,speed,lastforms)
step_motor_ctrl_set_base_param (id,paramName,val)
step_motor_ctrl_set_logic_point (id,logic_point_id,x,vel,acc,dec)
step_motor_ctrl_set_logic_point_simplify (id,logic_point_id)
step_motor_ctrl_stop (id,stop_type)
xy_robot_ctrl_enable (id,en)
xy_robot_ctrl_factory_reset (id)
xy_robot_ctrl_flush (id)
xy_robot_ctrl_force_change_current_pos (id,x,y)
xy_robot_ctrl_get_base_param (id)
xy_robot_ctrl_move_by (id,dx,dy,v)
xy_robot_ctrl_move_by_no_limit (id,dx,dy,v)
xy_robot_ctrl_move_to (id,x,y,speed)
xy_robot_ctrl_move_to_zero (id)
xy_robot_ctrl_move_to_zero_with_calibrate (id,nowx,nowy)
xy_robot_ctrl_read_detailed_status (id)
xy_robot_ctrl_read_status (id)
xy_robot_ctrl_read_version (id)
xy_robot_ctrl_set_base_param (id,paramName,val)
xy_robot_ctrl_stop (id,stop_type)
```

2
sdk

@ -1 +1 @@
Subproject commit 1a752ece8b739fe743348afe09463ed8b09565be
Subproject commit ef7a7f2a43038c8655ccfac5d80bab8984a3963a

92
usrc/intelligent_winding_robot_ctrl.cpp
View File

@ -140,9 +140,9 @@ int32_t IntelligentWindingRobotCtrl::scissors_move_reset_pos() {
return 0;
} // block
int32_t IntelligentWindingRobotCtrl::scissors_cut() {
ZLOGI(TAG, "scissors_cut %d", 24);
DO(m_dm->motor_move_by(24, 4095, 0, 0));
wait_module_idle(24);
ZLOGI(TAG, "scissors_cut %d", 22);
DO(m_dm->motor_move_by(22, 4095, 0, 0));
wait_module_idle(22);
return 0;
} // block
/**
@ -182,6 +182,17 @@ int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_full_pos() {
wait_module_idle(21);
return 0;
}
int32_t IntelligentWindingRobotCtrl::main_shaft_run() {
ZLOGI(TAG, "main_shaft_run");
DO(m_dm->motor_rotate_acctime(2, 1, 1000, 10000));
return 0;
}
int32_t IntelligentWindingRobotCtrl::main_shaft_stop() {
ZLOGI(TAG, "main_shaft_stop");
DO(m_dm->module_stop(2));
return 0;
}
/**
* @brief XYƽ̨
*/
@ -198,6 +209,11 @@ int32_t IntelligentWindingRobotCtrl::xy_take_clip(int32_t index) { return 0; }
int32_t IntelligentWindingRobotCtrl::xy_take_line() { return 0; } // È¡Ïß
int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; } // ·Åµ¯¼Ð
int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; } // ÒƳýÏß
int32_t IntelligentWindingRobotCtrl::do_reset_device() {
}
int32_t IntelligentWindingRobotCtrl::do_winding(int32_t index) {}
/**
* @brief
*/
@ -284,45 +300,47 @@ int32_t IntelligentWindingRobotCtrl::initialize(ZModuleDeviceManager* dm, ICmdPa
m_dm = dm;
m_cmdparse = cmdparse;
cmdparse->regCMD("paifei_duoji_moveto_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_reset(); });
cmdparse->regCMD("paifei_duoji_moveto_press", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_press(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_reset(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_get_thickness", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
cmdparse->regCMD("app_paifei_duoji_moveto_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_reset(); });
cmdparse->regCMD("app_paifei_duoji_moveto_press", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_press(); });
cmdparse->regCMD("app_raoxiantance_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_reset(); });
cmdparse->regCMD("app_raoxiantance_duoji_move_to_get_thickness", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t thickness = 0;
int32_t err = raoxiantance_duoji_move_to_get_thickness(ack->getAck(1));
ack->acktype = ICmdParserACK::kAckType_int32;
ack->rawlen = sizeof(int32_t);
});
cmdparse->regCMD("yaxian_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_reset(); });
cmdparse->regCMD("yaxian_duoji_move_to_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_press_pos(); });
cmdparse->regCMD("yaxian_duoji_move_to_wait_for_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_wait_for_press_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_reset(); });
cmdparse->regCMD("xianlajin_duoji_move_to_line_entry_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_line_entry_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_tight_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_tight_line_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_loose_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_loose_line_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("scissors_move_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_move_reset_pos(); });
cmdparse->regCMD("scissors_cut", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_cut(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("arm_hook_claws_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_reset(); });
cmdparse->regCMD("arm_hook_claws_move_to_half_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_half_pos(); });
cmdparse->regCMD("arm_hook_claws_move_to_full_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_full_pos(); });
cmdparse->regCMD("xy_platform_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_platform_reset(); });
cmdparse->regCMD("z_axis_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_reset(); });
cmdparse->regCMD("z_axis_move_to", "(int32_t pos)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_move_to(atoi(paraV[0])); });
cmdparse->regCMD("xy_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_reset(); });
cmdparse->regCMD("xy_move_to_zero", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_move_to_zero(); });
cmdparse->regCMD("xy_take_clip", "(int32_t index)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_clip(atoi(paraV[0])); });
cmdparse->regCMD("xy_take_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_line(); });
cmdparse->regCMD("xy_take_back_clip", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_back_clip(); });
cmdparse->regCMD("xy_remove_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_remove_line(); });
cmdparse->regCMD("start_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return start_winding(); });
cmdparse->regCMD("stop_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return stop_winding(); });
cmdparse->regCMD("reset_and_check_device", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return reset_and_check_device(); });
cmdparse->regCMD("setcfg", "(const char* cfgname, int32_t cfgvalue)", 2, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return setcfg(paraV[0], atoi(paraV[1])); });
cmdparse->regCMD("dumpcfg", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return dumpcfg(); });
cmdparse->regCMD("app_yaxian_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_reset(); });
cmdparse->regCMD("app_yaxian_duoji_move_to_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_press_pos(); });
cmdparse->regCMD("app_yaxian_duoji_move_to_wait_for_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_wait_for_press_pos(); });
cmdparse->regCMD("app_xianlajin_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_reset(); });
cmdparse->regCMD("app_xianlajin_duoji_move_to_line_entry_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_line_entry_pos(); });
cmdparse->regCMD("app_xianlajin_duoji_move_to_tight_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_tight_line_pos(); });
cmdparse->regCMD("app_xianlajin_duoji_move_to_loose_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_loose_line_pos(); });
cmdparse->regCMD("app_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("app_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("app_scissors_move_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_move_reset_pos(); });
cmdparse->regCMD("app_scissors_cut", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_cut(); });
cmdparse->regCMD("app_arm_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("app_arm_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("app_arm_hook_claws_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_reset(); });
cmdparse->regCMD("app_arm_hook_claws_move_to_half_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_half_pos(); });
cmdparse->regCMD("app_arm_hook_claws_move_to_full_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_full_pos(); });
cmdparse->regCMD("app_main_shaft_run", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return main_shaft_run(); });
cmdparse->regCMD("app_main_shaft_stop", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return main_shaft_stop(); });
cmdparse->regCMD("app_xy_platform_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_platform_reset(); });
cmdparse->regCMD("app_z_axis_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_reset(); });
cmdparse->regCMD("app_z_axis_move_to", "(int32_t pos)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_move_to(atoi(paraV[0])); });
cmdparse->regCMD("app_xy_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_reset(); });
cmdparse->regCMD("app_xy_move_to_zero", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_move_to_zero(); });
cmdparse->regCMD("app_xy_take_clip", "(int32_t index)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_clip(atoi(paraV[0])); });
cmdparse->regCMD("app_xy_take_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_line(); });
cmdparse->regCMD("app_xy_take_back_clip", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_back_clip(); });
cmdparse->regCMD("app_xy_remove_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_remove_line(); });
cmdparse->regCMD("app_start_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return start_winding(); });
cmdparse->regCMD("app_stop_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return stop_winding(); });
cmdparse->regCMD("app_reset_and_check_device", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return reset_and_check_device(); });
cmdparse->regCMD("app_setcfg", "(const char* cfgname, int32_t cfgvalue)", 2, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return setcfg(paraV[0], atoi(paraV[1])); });
cmdparse->regCMD("app_dumpcfg", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return dumpcfg(); });
return 0;
}

9
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -132,6 +132,10 @@ class IntelligentWindingRobotCtrl {
int32_t arm_hook_claws_reset();
int32_t arm_hook_claws_move_to_half_pos();
int32_t arm_hook_claws_move_to_full_pos();
int32_t main_shaft_run();
int32_t main_shaft_stop();
/**
* @brief XYƽ̨
*/
@ -148,6 +152,7 @@ class IntelligentWindingRobotCtrl {
int32_t xy_take_line(); // È¡Ïß
int32_t xy_take_back_clip(); // ·Åµ¯¼Ð
int32_t xy_remove_line(); // ÒƳýÏß
/**
* @brief
*/
@ -158,6 +163,10 @@ class IntelligentWindingRobotCtrl {
int32_t setcfg(const char* cfgname, int32_t cfgvalue);
int32_t dumpcfg();
int32_t do_reset_device();
int32_t do_winding(int32_t index);
void processError(int32_t err);
void wait_module_idle(int32_t moduleid);

223
usrc/main.cpp
View File

@ -178,6 +178,227 @@ extern "C" {}
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
void regfn() {
#if 0
eq20_enable (id,en)
eq20_get_io_state (id)
eq20_get_pos (id)
eq20_get_servo_internal_state (id)
eq20_move_by (id,pos,rpm,acctime)
eq20_move_to (id,pos,rpm,acctime)
eq20_move_to_zero_backward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_move_to_zero_forward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_rotate (id,rpm,acctime)
eq20_stop (id)
mini_servo_enable (id,en)
mini_servo_move_backward (id,torque)
mini_servo_move_by (id,pos,speed,torque)
mini_servo_move_forward (id,torque)
mini_servo_move_to (id,pos,speed,torque)
mini_servo_position_calibrate (id,pos)
mini_servo_read_status (id)
mini_servo_rotate (id,speed,torque,time)
mini_servo_stop (id,stop_type)
#endif
g_cmdScheduler.regCMD("eq20_enable", "(id,en)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t en = atoi(paraV[1]);
int32_t ecode = g_zmodule_device_manager.motor_enable(2, en);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_get_io_state", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t en = atoi(paraV[1]);
int32_t iostate = 0;
int32_t ecode = g_zmodule_device_manager.module_readio(2, &iostate);
ack->setInt32Ack(ecode, iostate);
});
g_cmdScheduler.regCMD("eq20_get_pos", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = 0;
int32_t ecode = g_zmodule_device_manager.motor_read_pos(2, &pos);
ack->setInt32Ack(ecode, pos);
});
g_cmdScheduler.regCMD("eq20_get_servo_internal_state", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = 0;
int32_t ecode = g_zmodule_device_manager.motor_read_pos(2, &pos);
ack->setInt32Ack(ecode, pos);
});
g_cmdScheduler.regCMD("eq20_move_by", "(id,pos,rpm,acctime)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = atoi(paraV[1]);
int32_t rpm = atoi(paraV[2]);
int32_t acctime = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_by_acctime(2, pos, rpm, acctime);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_move_to", "(id,pos,rpm,acctime)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = atoi(paraV[1]);
int32_t rpm = atoi(paraV[2]);
int32_t acctime = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_to_acctime(2, pos, rpm, acctime);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_move_to_zero_backward", "(id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t lookzeropoint_rpm = atoi(paraV[1]);
int32_t findzero_edge_rpm = atoi(paraV[2]);
int32_t lookzeropoint_acc_time = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(2, lookzeropoint_rpm, findzero_edge_rpm, 0, 0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_move_to_zero_forward", "(id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t lookzeropoint_rpm = atoi(paraV[1]);
int32_t findzero_edge_rpm = atoi(paraV[2]);
int32_t lookzeropoint_acc_time = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_forward(2, lookzeropoint_rpm, findzero_edge_rpm, 0, 0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_rotate", "(id,rpm,acctime)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t rpm = atoi(paraV[1]);
int32_t acctime = atoi(paraV[2]);
int32_t absrpm = abs(rpm);
int32_t direction = rpm > 0 ? 1 : -1;
int32_t ecode = g_zmodule_device_manager.motor_rotate_acctime(2, direction, absrpm, acctime);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("eq20_stop", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t ecode = g_zmodule_device_manager.module_stop(2);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_enable", "(id,en)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t en = atoi(paraV[1]);
int32_t ecode = g_zmodule_device_manager.motor_enable(id + 10, en);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_move_backward", "(id,torque)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t torque = atoi(paraV[1]);
torque = abs(torque);
int32_t ecode = g_zmodule_device_manager.motor_move_to_with_torque(id + 10, 0, torque);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_move_by", "(id,pos,speed,torque)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t pos = atoi(paraV[1]);
int32_t speed = atoi(paraV[2]);
int32_t torque = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_by(id + 10, pos, speed, 0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_move_forward", "(id,torque)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t torque = atoi(paraV[1]);
torque = abs(torque);
int32_t ecode = g_zmodule_device_manager.motor_move_to_with_torque(id + 10, 0, torque);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_move_to", "(id,pos,speed,torque)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t pos = atoi(paraV[1]);
int32_t speed = atoi(paraV[2]);
int32_t torque = atoi(paraV[3]);
int32_t ecode = g_zmodule_device_manager.motor_move_to(id + 10, pos, speed, 0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_position_calibrate", "(id,pos)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t pos = atoi(paraV[1]);
int32_t ecode = g_zmodule_device_manager.motor_set_current_pos_by_change_shift(id + 10, pos);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t pos = 0;
int32_t ecode = g_zmodule_device_manager.motor_read_pos(id + 10, &pos);
ack->setInt32Ack(ecode, pos);
});
g_cmdScheduler.regCMD("mini_servo_rotate", "(id,speed,torque,time)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t speed = atoi(paraV[1]);
int32_t torque = atoi(paraV[2]);
int32_t time = atoi(paraV[3]);
int direction = speed > 0 ? 1 : -1;
int32_t ecode = g_zmodule_device_manager.motor_rotate(id + 10, direction, speed, time);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("mini_servo_stop", "(id,stop_type)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t id = atoi(paraV[0]);
int32_t stop_type = atoi(paraV[1]);
int32_t ecode = g_zmodule_device_manager.module_stop(id + 10);
ack->setNoneAck(ecode);
});
#if 0
step_motor_45_get_pos (id)
step_motor_45_move_by (id,pos)
step_motor_45_move_to (id,pos)
step_motor_45_rotate (id,direction)
step_motor_45_stop (id)
step_motor_45_zero_calibration (id)
#endif
g_cmdScheduler.regCMD("step_motor_45_get_pos", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = 0;
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.motor_read_pos(id + 20, &pos);
ack->setInt32Ack(ecode, pos);
});
g_cmdScheduler.regCMD("step_motor_45_move_by", "(id,pos)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = atoi(paraV[1]);
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.motor_move_by(id + 20, pos,0,0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("step_motor_45_move_to", "(id,pos)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t pos = atoi(paraV[1]);
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.motor_move_to(id + 20, pos,0,0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("step_motor_45_rotate", "(id,direction)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int32_t direction = atoi(paraV[1]);
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.motor_rotate(id + 20, direction,0,0);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("step_motor_45_stop", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.module_stop(id + 20);
ack->setNoneAck(ecode);
});
g_cmdScheduler.regCMD("step_motor_45_zero_calibration", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
int id = atoi(paraV[0]);
int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(id + 20,0,0,0,0);
ack->setNoneAck(ecode);
});
}
extern void step_motor_cmd_reg();
void Main::run() {
/*******************************************************************************
@ -251,7 +472,7 @@ void Main::run() {
* @brief ÌÕ¾§³ÛÏûÏ¢½âÎö
*/
[this](uint8_t* data, size_t len) {});
regfn();
#if 0
step_motor_cmd_reg();
#endif

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