开发板资料 http://47.111.11.73/docs/boards/stm32/zdyz_stm32f407_explorer.html

步进电机指令 step_motor_setvelocity 1 2000 step_motor_setvelocity 2 2000 step_motor_setvelocity 3 2000 step_motor_setvelocity 4 2000

step_motor_moveby 1 51200 step_motor_moveby 2 51200 step_motor_moveby 3 51200 step_motor_moveby 4 40000

迷你步进电机指令

stepmotor45_moveTo 1 512 stepmotor45_moveTo 2 512 stepmotor45_moveTo 3 512 stepmotor45_moveTo 4 512 stepmotor45_moveTo 5 512 stepmotor45_moveTo 6 512

stepmotor45_moveBy 1 -25600

stepmotor45_moveBy 2 -25600 stepmotor45_moveBy 3 -25600 stepmotor45_moveBy 4 -25600

stepmotor45_moveBy 1 25600 stepmotor45_moveBy 2 25600 stepmotor45_moveBy 3 25600 stepmotor45_moveBy 4 25600

step_motor_rotate 1 0 step_motor_rotate 2 0

舵机指令

eq20_enable (id,en)
eq20_get_io_state (id)
eq20_get_pos (id)
eq20_get_servo_internal_state (id)
eq20_move_by (id,pos,rpm,acctime)
eq20_move_to (id,pos,rpm,acctime)
eq20_move_to_zero_backward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_move_to_zero_forward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)
eq20_read_pn (id,pnadd)
eq20_read_pn_bit (id,pnadd,off)
eq20_read_reg (id,regadd)
eq20_read_reg_bit (id,regadd,off)
eq20_rotate (id,rpm,acctime)
eq20_stop (id)
eq20_write_pn (id,pnadd,value)
eq20_write_pn_bit (id,pnadd,off,value)
eq20_write_reg (id,regadd,value)
eq20_write_reg_bit (id,regadd,off,value)

mini_servo_enable (id,en)
mini_servo_get_basic_param (id)
mini_servo_move_backward (id,torque)
mini_servo_move_by (id,pos,speed,torque)
mini_servo_move_forward (id,torque)
mini_servo_move_to (id,pos,speed,torque)
mini_servo_position_calibrate (id,pos)
mini_servo_read_detailed_status (id)
mini_servo_read_status (id)
mini_servo_read_version (id)
mini_servo_rotate (id,speed,torque,time)
mini_servo_stop (id,stop_type)

sleep_ms (ms)

step_motor_45_get_default_speed (id)
step_motor_45_get_pos (id)
step_motor_45_get_zero_pin_state (id,pos)
step_motor_45_is_reach_target_pos (id)
step_motor_45_move_by (id,pos)
step_motor_45_move_to (id,pos)
step_motor_45_rotate (id,direction)
step_motor_45_set_default_speed (id,speed)
step_motor_45_set_pos (id,pos)
step_motor_45_stop (id)
step_motor_45_zero_calibration (id)
step_motor_ctrl_enable (id,en)
step_motor_ctrl_factory_reset (id)
step_motor_ctrl_flush (id)
step_motor_ctrl_force_change_current_pos (id,x)
step_motor_ctrl_get_base_param (id)
step_motor_ctrl_get_last_exec_status (id)
step_motor_ctrl_get_logic_point (id,logic_point_id)
step_motor_ctrl_is_busy (id)
step_motor_ctrl_move_by (id,dx,speed)
step_motor_ctrl_move_to (id,x,speed)
step_motor_ctrl_move_to_logic_point (id,logic_point_id)
step_motor_ctrl_move_to_zero (id)
step_motor_ctrl_move_to_zero_with_calibrate (id,x)
step_motor_ctrl_read_detailed_status (id)
step_motor_ctrl_read_status (id)
step_motor_ctrl_read_version (id)
step_motor_ctrl_rotate (id,speed,lastforms)
step_motor_ctrl_set_base_param (id,paramName,val)
step_motor_ctrl_set_logic_point (id,logic_point_id,x,vel,acc,dec)
step_motor_ctrl_set_logic_point_simplify (id,logic_point_id)
step_motor_ctrl_stop (id,stop_type)

xy_robot_ctrl_enable (id,en)
xy_robot_ctrl_factory_reset (id)
xy_robot_ctrl_flush (id)
xy_robot_ctrl_force_change_current_pos (id,x,y)
xy_robot_ctrl_get_base_param (id)
xy_robot_ctrl_move_by (id,dx,dy,v)
xy_robot_ctrl_move_by_no_limit (id,dx,dy,v)
xy_robot_ctrl_move_to (id,x,y,speed)
xy_robot_ctrl_move_to_zero (id)
xy_robot_ctrl_move_to_zero_with_calibrate (id,nowx,nowy)
xy_robot_ctrl_read_detailed_status (id)
xy_robot_ctrl_read_status (id)
xy_robot_ctrl_read_version (id)
xy_robot_ctrl_set_base_param (id,paramName,val)
xy_robot_ctrl_stop (id,stop_type)

子弹:
bullet

弹壳
Bullet_case
弹芯
Bullet_core
弹夹
bullet_holder

  m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
  m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); });
  m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) { return step_prepare_remove_line(atoi(paraV[0])); });
  m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); });
  m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
  m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
  m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); });
  m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });


  

step_take_bullet 3
step_prepare_remove_line 3
step_remove_line
step_winding_prepare
step_winding
step_winding_lineend_prepare 3
step_winding_lineend
step_winding_take_bullet_from_cooking_to_origin_pos 3


辅助
step_take_back_bullet 1

异常处理 
    1. 移除线超时

TEST:step_winding_lineend_prepare 1

m23_laxian_motor_move_to_reset_pos
m12_jiaxian_move_to_open_pos
step_winding_lineend_prepare 1

实验准备
motor_move_to 16 1900 300 0
motor_move_to_acctime 2 1100 5 50

抬升复位
motor_move_to 16 1900 300 0
motor_move_to_acctime 2 2200 5 50 # 反转
m16_xianlajin_move_to_cook_lineend_low_pos
motor_move_to_acctime 2 2300 5 50 # 反转
motor_move_to_acctime 2 -200 5 50 # 正转
m16_xianlajin_move_to_cook_lineend_high_pos
motor_move_to_acctime 2 1000 5 50
m23_laxian_motor_move_to_tight_line_pos
motor_move_to_acctime 2 1000 5 50
motor_move_to 16 1850 300 0 //m16_xianlajin_move_to_cook_lineend_low_pos
motor_move_to_acctime 2 -200 5 50
m16_xianlajin_move_to_cook_lineend_high_pos
motor_move_to_acctime 2 1100 5 50
motor_move_to_torque 23 1600 40 0
motor_move_to 16 1850 300 0 












1. 剪刀碍事
2. 卡扣十分容易松
3. 如果线梭子的线方向放反，将无法退线