p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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zhaohe 2 years ago
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dbfc52a9f1
commit
d09520f2a4
2 changed files with 12 additions and 12 deletions
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  1. 2
      sdk
  2. 22
      usrc/main.cpp

2
sdk

@ -1 +1 @@
Subproject commit 6fca64edea002a9ce94890cc6bd5adf940c62e52
Subproject commit 1a999a25f569cc1b6a52203f6114fa0c34f2ac9c

22
usrc/main.cpp
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@ -16,9 +16,9 @@
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
//
#include "sdk\components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
#include "sdk\components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
#include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
#include "sdk\components/xy_robot_ctrl_module/zcan_xy_robot_master_module.hpp"
#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
@ -201,10 +201,10 @@ void Main::run() {
/*******************************************************************************
* É豸¹¹ÔìºÍ³õʼ»¯ *
*******************************************************************************/
g_z_step_motor = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
ZASSERT(g_z_step_motor != nullptr);
// g_z_step_motor = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
// ZASSERT(g_z_step_motor != nullptr);
g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
// g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
g_mini_servo[0].initialize(1, &g_feiteservomotor_bus, 1);
g_mini_servo[1].initialize(2, &g_feiteservomotor_bus, 2);
g_mini_servo[2].initialize(3, &g_feiteservomotor_bus, 3);
@ -215,12 +215,12 @@ void Main::run() {
StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10);
g_step_motor45[0].initialize(1,&step_motor45_scheduler, cfg1);
g_step_motor45[1].initialize(2,&step_motor45_scheduler, cfg2);
g_step_motor45[2].initialize(3,&step_motor45_scheduler, cfg3);
g_step_motor45[3].initialize(4,&step_motor45_scheduler, cfg4);
g_step_motor45[4].initialize(5,&step_motor45_scheduler, cfg5);
g_step_motor45[5].initialize(6,&step_motor45_scheduler, cfg6);
g_step_motor45[0].initialize(1, &step_motor45_scheduler, cfg1);
g_step_motor45[1].initialize(2, &step_motor45_scheduler, cfg2);
g_step_motor45[2].initialize(3, &step_motor45_scheduler, cfg3);
g_step_motor45[3].initialize(4, &step_motor45_scheduler, cfg4);
g_step_motor45[4].initialize(5, &step_motor45_scheduler, cfg5);
g_step_motor45[5].initialize(6, &step_motor45_scheduler, cfg6);
step_motor45_scheduler.start();
/*******************************************************************************

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