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Intelligent_winding_robot_main_board
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eq20 add velocity limit

master
zhaohe 2 years ago
parent
cb1d1d79a0
commit
f2f00c0a7b
3 changed files with 5 additions and 5 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      sdk
  3. 4
      usrc/device.cpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-590189052051766916" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1693627890036925926" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1699592744443364560" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

2
sdk

@ -1 +1 @@
Subproject commit 0d5a3a53c8d3b3d22f5c3963dc94abadab11da7e
Subproject commit cc77054006205d1a3d1b238d6ecdd59038c007d6

4
usrc/device.cpp
View File

@ -107,7 +107,7 @@ void Device::sub_module_init() {
* @brief 初始化舵机
* 11->16
*/
static MiniRobotCtrlModule::flash_config_t servo_cfg = {.default_torque = 330};
static MiniRobotCtrlModule::flash_config_t servo_cfg = {.default_torque = 330, .default_velocity = 0};
static MiniRobotCtrlModule mini_servo[10];
for (size_t i = 1; i <= 6; i++) {
int idnum = 10 + i;
@ -120,7 +120,7 @@ void Device::sub_module_init() {
* @brief 初始化主轴电机
*/
static Eq20ServoMotor::servo_config_t default_servo_cfg = //
{.default_acc_time_ms = 1000, .default_velocity = 500, .find_zero_velocity = 100};
{.default_acc_time_ms = 1000, .default_velocity = 1000, .find_zero_velocity = 100, .default_velocity_limit = 2000};
static Eq20ServoMotor eq20_motor;
eq20_motor.init(1, &m_modbus, 1, default_servo_cfg);
m_device_manager.registerModule(&eq20_motor);

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