p_Intelligent_winding_robot_v2
/
Intelligent_winding_robot_main_board
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
2ec1426ca2
commit
8d70d8684d
6 changed files with 374 additions and 41 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  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 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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

85
README.md
View File

@ -40,3 +40,88 @@ step_motor_rotate 2 0
¶æ»úÖ¸Áî ¶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; return 0;
} // block } // block
int32_t IntelligentWindingRobotCtrl::scissors_cut() { 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; return 0;
} // block } // block
/** /**
@ -182,6 +182,17 @@ int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_full_pos() {
wait_module_idle(21); wait_module_idle(21);
return 0; 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 * @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_line() { return 0; } // È¡Ïß
int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; } // ·Åµ¯¼Ð int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; } // ·Åµ¯¼Ð
int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; } // ÒƳýÏß int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; } // ÒƳýÏß
int32_t IntelligentWindingRobotCtrl::do_reset_device() {
}
int32_t IntelligentWindingRobotCtrl::do_winding(int32_t index) {}
/** /**
* @brief * @brief
*/ */
@ -284,45 +300,47 @@ int32_t IntelligentWindingRobotCtrl::initialize(ZModuleDeviceManager* dm, ICmdPa
m_dm = dm; m_dm = dm;
m_cmdparse = cmdparse; 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 thickness = 0;
int32_t err = raoxiantance_duoji_move_to_get_thickness(ack->getAck(1)); int32_t err = raoxiantance_duoji_move_to_get_thickness(ack->getAck(1));
ack->acktype = ICmdParserACK::kAckType_int32; ack->acktype = ICmdParserACK::kAckType_int32;
ack->rawlen = sizeof(int32_t); 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; 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_reset();
int32_t arm_hook_claws_move_to_half_pos(); int32_t arm_hook_claws_move_to_half_pos();
int32_t arm_hook_claws_move_to_full_pos(); int32_t arm_hook_claws_move_to_full_pos();
int32_t main_shaft_run();
int32_t main_shaft_stop();
/** /**
* @brief XYƽ̨ * @brief XYƽ̨
*/ */
@ -148,6 +152,7 @@ class IntelligentWindingRobotCtrl {
int32_t xy_take_line(); // È¡Ïß int32_t xy_take_line(); // È¡Ïß
int32_t xy_take_back_clip(); // ·Åµ¯¼Ð int32_t xy_take_back_clip(); // ·Åµ¯¼Ð
int32_t xy_remove_line(); // ÒƳýÏß int32_t xy_remove_line(); // ÒƳýÏß
/** /**
* @brief * @brief
*/ */
@ -158,6 +163,10 @@ class IntelligentWindingRobotCtrl {
int32_t setcfg(const char* cfgname, int32_t cfgvalue); int32_t setcfg(const char* cfgname, int32_t cfgvalue);
int32_t dumpcfg(); int32_t dumpcfg();
int32_t do_reset_device();
int32_t do_winding(int32_t index);
void processError(int32_t err); void processError(int32_t err);
void wait_module_idle(int32_t moduleid); 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_rx;
extern DMA_HandleTypeDef hdma_usart2_tx; 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(); extern void step_motor_cmd_reg();
void Main::run() { void Main::run() {
/******************************************************************************* /*******************************************************************************
@ -251,7 +472,7 @@ void Main::run() {
* @brief ÌÕ¾§³ÛÏûÏ¢½âÎö * @brief ÌÕ¾§³ÛÏûÏ¢½âÎö
*/ */
[this](uint8_t* data, size_t len) {}); [this](uint8_t* data, size_t len) {});
regfn();
#if 0 #if 0
step_motor_cmd_reg(); step_motor_cmd_reg();
#endif #endif

Write Preview
Loading…
Cancel
Save