update

sdk

@@ -1 +1 @@
-Subproject commit 3b6bcbe155a48abf6a7859d19f47fbe9c772fb7f
+Subproject commit 038b6538f837519f0759a668a2ba533bb7c500d3

usrc/app_zmodule_device_manager.cpp

@@ -144,6 +144,12 @@ int32_t APPDM::motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t
   ZLOGI(TAG, "motor_rotate_with_torque %d %d %d", id, direction, torque);
   DOCMD(DM::motor_rotate_with_torque(id, direction, torque));
 }
+
+int32_t APPDM::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) {  //
+  ZLOGI(TAG, "motor_move_to_torque %d %d %d %d", id, pos, torque, overtime);
+  DOCMD(DM::motor_move_to_torque(id, pos, torque, overtime));
+}
+
 int32_t APPDM::motor_read_pos(uint16_t id, int32_t *pos) {  //
   DOCMD(DM::motor_read_pos(id, pos));
 }

usrc/app_zmodule_device_manager.hpp

@@ -55,6 +55,8 @@ class APPDM : public ZModuleDeviceManager {
   virtual int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t motor_rotate_with_torque(uint16_t id, int32_t direction, int32_t torque) override;
+  virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) override;
+
   virtual int32_t motor_read_pos(uint16_t id, int32_t *pos) override;
   virtual int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) override;
   virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;

usrc/intelligent_winding_robot_ctrl.cpp

@@ -84,8 +84,6 @@ void IntelligentWindingRobotCtrl::regcb() {
   m_cmdparse->regCMD("disable_all_module", "()", 0, [this](PARAM) { disable_all_module(); });
   m_cmdparse->regCMD("xy_run_to_clip_pos_test", "()", 1, [this](PARAM) { return xy_run_to_clip_pos_test(atoi(paraV[0])); });
 
-  
-
   // m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
 
   m_cmdparse->regCMD("app_m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); });
@@ -134,7 +132,6 @@ void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid) {
     };
     if (i % 30 == 0) {
       ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status);
-      break;
     }
     i++;
     zos_delay(100);
@@ -226,21 +223,23 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
   ZLOGI(TAG, "device_reset finished....");
 }
 
-int32_t IntelligentWindingRobotCtrl::m11_arm_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to(11, cfg.m11_arm_jiaxian_reset_pos, 2000, 0); }
+
+int32_t IntelligentWindingRobotCtrl::m11_arm_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to_torque(11, cfg.m11_arm_jiaxian_reset_pos, 330, 0); }
 int32_t IntelligentWindingRobotCtrl::m11_arm_jiaxian_move_to_clamp_pos() { return m_dm->motor_rotate_with_torque(11, cfg.m11_arm_jiaxian_clamp_direction, cfg.m11_arm_jiaxian_clamp_torque); }
-int32_t IntelligentWindingRobotCtrl::m12_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to(12, cfg.m12_jiaxian_reset_pos, 2000, 0); }
+int32_t IntelligentWindingRobotCtrl::m12_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to_torque(12, cfg.m12_jiaxian_reset_pos, 330, 0); }
 int32_t IntelligentWindingRobotCtrl::m12_jiaxian_move_to_clamp_pos() { return m_dm->motor_rotate_with_torque(12, cfg.m12_jiaxian_clamp_direction, cfg.m12_jiaxian_clamp_torque); }
-int32_t IntelligentWindingRobotCtrl::m13_yaxian_move_to_reset_forward() { return m_dm->motor_move_to(13, cfg.m13_yaxian_forward_reset_pos, 2000, 0); }
-int32_t IntelligentWindingRobotCtrl::m13_yaxian_move_to_reset_backward() { return m_dm->motor_move_to(13, cfg.m13_yaxian_backward_reset_pos, 2000, 0); }
+int32_t IntelligentWindingRobotCtrl::m13_yaxian_move_to_reset_forward() { return m_dm->motor_move_to_torque(13, cfg.m13_yaxian_forward_reset_pos, 330, 0); }
+int32_t IntelligentWindingRobotCtrl::m13_yaxian_move_to_reset_backward() { return m_dm->motor_move_to_torque(13, cfg.m13_yaxian_backward_reset_pos, 100, 0); }
 int32_t IntelligentWindingRobotCtrl::m13_yaxian_press_clip() { return m_dm->motor_rotate_with_torque(13, cfg.m13_jiaxian_clamp_direction, cfg.m13_jiaxian_clamp_torque); }
-int32_t IntelligentWindingRobotCtrl::m14_raoxiantance_move_to_reset() { return m_dm->motor_move_to(14, cfg.m14_raoxiantance_reset_pos, 2000, 0); }
-int32_t IntelligentWindingRobotCtrl::m15_paifei_moveto_reset() { return m_dm->motor_move_to(15, cfg.m15_paifei_reset_pos, 2000, 0); }
+int32_t IntelligentWindingRobotCtrl::m14_raoxiantance_move_to_reset() { return m_dm->motor_move_to_torque(14, cfg.m14_raoxiantance_reset_pos, 330, 0); }
+int32_t IntelligentWindingRobotCtrl::m15_paifei_moveto_reset() { return m_dm->motor_move_to_torque(15, cfg.m15_paifei_reset_pos, 330, 0); }
 int32_t IntelligentWindingRobotCtrl::m15_paifei_moveto_press() { return m_dm->motor_rotate_with_torque(15, cfg.m15_paifei_press_direction, cfg.m15_paifei_press_torque); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_reset() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_reset_pos, 300, 0); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_tight_line_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_tight_line_pos, 100, 0); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_winding_low_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_winding_low_pos, 100, 0); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_winding_up_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_winding_up_pos, 100, 0); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_line_entry_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_line_entry_pos, 100, 0); }
+
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); }
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); }
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_full_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_full_pos, 0, 0); }