From dbfc52a9f16848803d8e53bbe410f290f59c71e1 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 21 Oct 2023 11:35:36 +0800 Subject: [PATCH] update --- sdk | 2 +- usrc/main.cpp | 24 ++++++++++++------------ usrc/step_motor_cmd_reg.cpp | 2 ++ 3 files changed, 15 insertions(+), 13 deletions(-) diff --git a/sdk b/sdk index 07b0889..6fca64e 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 07b0889ebd311dc76327ef4243b2cf8f4c425371 +Subproject commit 6fca64edea002a9ce94890cc6bd5adf940c62e52 diff --git a/usrc/main.cpp b/usrc/main.cpp index 639ef7e..d926b85 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -205,22 +205,22 @@ void Main::run() { ZASSERT(g_z_step_motor != nullptr); g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1); - g_mini_servo[0].initialize(&g_feiteservomotor_bus, 1); - g_mini_servo[1].initialize(&g_feiteservomotor_bus, 2); - g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3); - g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4); - g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5); - g_mini_servo[5].initialize(&g_feiteservomotor_bus, 6); + 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); + g_mini_servo[3].initialize(4, &g_feiteservomotor_bus, 4); + g_mini_servo[4].initialize(5, &g_feiteservomotor_bus, 5); + g_mini_servo[5].initialize(6, &g_feiteservomotor_bus, 6); StepMotor45Scheduler step_motor45_scheduler; step_motor45_scheduler.initialize(&htim10); - g_step_motor45[0].initialize(&step_motor45_scheduler, cfg1); - g_step_motor45[1].initialize(&step_motor45_scheduler, cfg2); - g_step_motor45[2].initialize(&step_motor45_scheduler, cfg3); - g_step_motor45[3].initialize(&step_motor45_scheduler, cfg4); - g_step_motor45[4].initialize(&step_motor45_scheduler, cfg5); - g_step_motor45[5].initialize(&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(); /******************************************************************************* diff --git a/usrc/step_motor_cmd_reg.cpp b/usrc/step_motor_cmd_reg.cpp index 7f47ce1..ff59050 100644 --- a/usrc/step_motor_cmd_reg.cpp +++ b/usrc/step_motor_cmd_reg.cpp @@ -51,6 +51,7 @@ extern Eq20ServoMotor g_eq20servomotor; extern FeiTeServoMotor g_feiteservomotor; } // namespace iflytop +#if 0 static bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distance) { if (screw_lead.find(motorid) == screw_lead.end()) { return false; @@ -59,6 +60,7 @@ static bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distanc *distance = distance_mm / lead * 51200; return true; } +#endif void step_motor_cmd_reg() { #if 0