diff --git a/mainboard Debug.launch b/Intelligent_winding_robot_main_board.launch
similarity index 98%
rename from mainboard Debug.launch
rename to Intelligent_winding_robot_main_board.launch
index 55b0b7c..706b268 100644
--- a/mainboard Debug.launch
+++ b/Intelligent_winding_robot_main_board.launch
@@ -21,7 +21,7 @@
-
+
@@ -36,8 +36,8 @@
-
-
+
+
diff --git a/sdk b/sdk
index d69f855..40d6da4 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit d69f8551a6307b256cb2917312e57e2949953db1
+Subproject commit 40d6da40267dc39bcff6b282dd6ed6e7da4408df
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 8c69e31..fd0b805 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -10,8 +10,11 @@
#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"
#define TAG "main"
namespace iflytop {
@@ -120,14 +123,17 @@ static StepMotor45::cfg_t cfg6 = {
* ´úÂë *
*******************************************************************************/
namespace iflytop {
-StepMotor45 g_step_motor45[7];
-StepMotor g_step_motor[10];
-IflytopCanMaster m_IflytopCanMaster;
-CmdScheduler cmdScheduler;
-
-ModbusBlockHost g_modbusblockhost;
-Eq20ServoMotor g_eq20servomotor;
-FeiTeServoMotor g_feiteservomotor;
+StepMotor45 g_step_motor45[7];
+StepMotor g_step_motor[10];
+ZCanCommnaderMaster m_zcanCommnaderMaster;
+CmdScheduler cmdScheduler;
+XYRobotScriptCmderModule xyRobotScriptCmderModule;
+
+ModbusBlockHost g_modbusblockhost;
+Eq20ServoMotor g_eq20servomotor;
+FeiTeServoMotor g_feiteservomotor;
+I_XYRobotCtrlModule* g_xyrobotctrlmodule = nullptr;
+
} // namespace iflytop
void regfn() {
@@ -182,6 +188,11 @@ void regfn() {
CHECK_ARGC(1);
osDelay(atoi(argv[1]));
});
+
+ cmdScheduler.registerCmd("hbot_enable", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+ CHECK_ARGC(0);
+ g_xyrobotctrlmodule->enable(false);
+ });
}
extern "C" {
@@ -201,9 +212,18 @@ void Main::run() {
zos_cfg_t zoscfg;
zos_init(&zoscfg);
- auto config = m_IflytopCanMaster.createDefaultConfig(1);
- m_IflytopCanMaster.initialize(config);
+ auto* cfg = m_zcanCommnaderMaster.createCFG();
+ m_zcanCommnaderMaster.init(cfg);
+ g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
+ g_xyrobotctrlmodule->enable(false);
+
+ cmdScheduler.initialize(&DEBUG_UART, 1000);
+ xyRobotScriptCmderModule.initialize(&cmdScheduler);
+ xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule);
+ regfn();
+
+#if 0
int i = 1;
g_step_motor[i++].initialize(11, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(12, 10000, &m_IflytopCanMaster);
@@ -232,20 +252,18 @@ void Main::run() {
step_motor45_scheduler.start();
- cmdScheduler.initialize(&DEBUG_UART, 1000);
g_modbusblockhost.initialize(&huart2);
g_eq20servomotor.init(&g_modbusblockhost);
-
g_feiteservomotor.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
+#endif
+#if 0
step_motor_cmd_reg();
- regfn();
+#endif
while (true) {
OSDefaultSchduler::getInstance()->loop();
cmdScheduler.schedule();
- m_IflytopCanMaster.periodicJob();
- // m_IflytopCanMaster.writeReg(1,1,1,10);
- // osDelay(1);
+ osDelay(1);
}
}