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@ -10,8 +10,11 @@ |
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#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
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#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
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#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
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#include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
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#include "sdk\components\step_motor_45\step_motor_45.hpp"
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#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
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#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
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#include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
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#define TAG "main"
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namespace iflytop { |
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@ -120,14 +123,17 @@ static StepMotor45::cfg_t cfg6 = { |
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* ´úÂë * |
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*******************************************************************************/ |
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namespace iflytop { |
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StepMotor45 g_step_motor45[7]; |
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StepMotor g_step_motor[10]; |
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IflytopCanMaster m_IflytopCanMaster; |
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CmdScheduler cmdScheduler; |
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ModbusBlockHost g_modbusblockhost; |
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Eq20ServoMotor g_eq20servomotor; |
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FeiTeServoMotor g_feiteservomotor; |
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StepMotor45 g_step_motor45[7]; |
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StepMotor g_step_motor[10]; |
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ZCanCommnaderMaster m_zcanCommnaderMaster; |
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CmdScheduler cmdScheduler; |
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XYRobotScriptCmderModule xyRobotScriptCmderModule; |
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ModbusBlockHost g_modbusblockhost; |
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Eq20ServoMotor g_eq20servomotor; |
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FeiTeServoMotor g_feiteservomotor; |
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I_XYRobotCtrlModule* g_xyrobotctrlmodule = nullptr; |
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} // namespace iflytop
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void regfn() { |
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@ -182,6 +188,11 @@ void regfn() { |
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CHECK_ARGC(1); |
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osDelay(atoi(argv[1])); |
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}); |
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cmdScheduler.registerCmd("hbot_enable", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { |
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CHECK_ARGC(0); |
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g_xyrobotctrlmodule->enable(false); |
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}); |
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} |
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extern "C" { |
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@ -201,9 +212,18 @@ void Main::run() { |
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zos_cfg_t zoscfg; |
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zos_init(&zoscfg); |
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auto config = m_IflytopCanMaster.createDefaultConfig(1); |
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m_IflytopCanMaster.initialize(config); |
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auto* cfg = m_zcanCommnaderMaster.createCFG(); |
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m_zcanCommnaderMaster.init(cfg); |
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g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1); |
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g_xyrobotctrlmodule->enable(false); |
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cmdScheduler.initialize(&DEBUG_UART, 1000); |
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xyRobotScriptCmderModule.initialize(&cmdScheduler); |
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xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule); |
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regfn(); |
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#if 0
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int i = 1; |
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g_step_motor[i++].initialize(11, 10000, &m_IflytopCanMaster); |
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g_step_motor[i++].initialize(12, 10000, &m_IflytopCanMaster); |
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@ -232,20 +252,18 @@ void Main::run() { |
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step_motor45_scheduler.start(); |
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cmdScheduler.initialize(&DEBUG_UART, 1000); |
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g_modbusblockhost.initialize(&huart2); |
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g_eq20servomotor.init(&g_modbusblockhost); |
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g_feiteservomotor.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx); |
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#endif
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#if 0
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step_motor_cmd_reg(); |
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regfn(); |
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#endif
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while (true) { |
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OSDefaultSchduler::getInstance()->loop(); |
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cmdScheduler.schedule(); |
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m_IflytopCanMaster.periodicJob(); |
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// m_IflytopCanMaster.writeReg(1,1,1,10);
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// osDelay(1);
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osDelay(1); |
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} |
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} |
