diff --git a/sdk b/sdk index 6fca64e..1a999a2 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 6fca64edea002a9ce94890cc6bd5adf940c62e52 +Subproject commit 1a999a25f569cc1b6a52203f6114fa0c34f2ac9c diff --git a/usrc/main.cpp b/usrc/main.cpp index d926b85..2a4b94f 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -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() { /******************************************************************************* * 设备构造和初始化 * *******************************************************************************/ - 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(); /*******************************************************************************