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add motor_easy_move_to_io

old
zhaohe 2 years ago
parent
725ad336d3
commit
07b4f9c5f4
3 changed files with 211 additions and 196 deletions
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  1. 345
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 60
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  3. 2
      components/zprotocols/zcancmder_v2

345
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -80,7 +80,7 @@ int32_t StepMotorCtrlModule::_move_to(int32_t tox, action_cb_status_t status_cb)
m_thread.start(
[this, tox, status_cb]() {
_motor_move_to(tox, m_default_speed, m_param.motor_default_acc, m_param.motor_default_dec);
_move_to_nolimit(tox, m_default_speed, m_param.motor_default_acc, m_param.motor_default_dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
vTaskDelay(10);
@ -139,7 +139,7 @@ int32_t StepMotorCtrlModule::calculate_curpos(action_cb_status_t status_cb) {
[this, status_cb]() {
//
int32_t dx;
int32_t erro = exec_move_to_zero_task(dx);
int32_t erro = _exec_move_to_zero_task(dx);
int xstart = dx + m_param.motor_shift;
m_calculate_curpos_result = xstart;
call_exec_status_cb(erro, status_cb);
@ -160,7 +160,7 @@ int32_t StepMotorCtrlModule::move_to_zero(action_cb_status_t status_cb) {
m_thread.start(
[this, status_cb]() {
int32_t dx;
int32_t erro = exec_move_to_zero_task(dx);
int32_t erro = _exec_move_to_zero_task(dx);
if (erro == 0) {
m_stepM1->setXACTUAL(0);
}
@ -178,9 +178,9 @@ int32_t StepMotorCtrlModule::move_to_zero_with_calibrate(int32_t nowx, action_cb
m_thread.start([this, nowx, status_cb]() {
int32_t dx;
int32_t erro = exec_move_to_zero_task(dx);
int32_t erro = _exec_move_to_zero_task(dx);
if (erro != 0) {
ZLOGI(TAG, "exec_move_to_zero_task failed:%d", erro);
ZLOGI(TAG, "_exec_move_to_zero_task failed:%d", erro);
_motor_stop();
call_exec_status_cb(erro, status_cb);
@ -258,50 +258,6 @@ int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_
return 0;
}
int32_t StepMotorCtrlModule::set_base_param(const base_param_t& param) {
m_param = param;
active_cfg();
ZLOGI(TAG, "=========== base param ============");
ZLOGI(TAG, "= x_shaft :%d", m_param.motor_shaft);
ZLOGI(TAG, "= distance_scale :%f", m_param.motor_one_circle_pulse);
ZLOGI(TAG, "= ihold :%d", m_param.stepmotor_ihold);
ZLOGI(TAG, "= irun :%d", m_param.stepmotor_irun);
ZLOGI(TAG, "= iholddelay :%d", m_param.stepmotor_iholddelay);
ZLOGI(TAG, "= acc :%d", m_param.motor_default_acc);
ZLOGI(TAG, "= dec :%d", m_param.motor_default_dec);
ZLOGI(TAG, "= maxspeed :%d", m_param.motor_default_velocity);
ZLOGI(TAG, "= min_x :%d", m_param.min_d);
ZLOGI(TAG, "= max_x :%d", m_param.max_d);
ZLOGI(TAG, "= motor_shift :%d", m_param.motor_shift);
#if 0
int32_t run_to_zero_max_d;
int32_t run_to_zero_speed;
int32_t run_to_zero_dec;
int32_t look_zero_edge_max_d;
int32_t look_zero_edge_speed;
int32_t look_zero_edge_dec;
#endif
ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.motor_run_to_zero_max_d);
ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.motor_run_to_zero_speed);
ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.motor_run_to_zero_dec);
ZLOGI(TAG, "= look_zero_edge_max_d :%d", m_param.motor_look_zero_edge_max_d);
ZLOGI(TAG, "= look_zero_edge_speed :%d", m_param.motor_look_zero_edge_speed);
ZLOGI(TAG, "= look_zero_edge_dec :%d", m_param.motor_look_zero_edge_dec);
// ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_move_to_zero_max_d);
// ZLOGI(TAG, "= leave_from_zero_max_d :%d", m_param.run_to_zero_leave_from_zero_max_d);
// ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.run_to_zero_speed);
// ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.run_to_zero_dec);
ZLOGI(TAG, "==================================");
return 0;
}
int32_t StepMotorCtrlModule::get_base_param(base_param_t& param) {
param = m_param;
return 0;
}
int32_t StepMotorCtrlModule::read_pos(int32_t& pos) {
getnowpos(pos);
return 0;
@ -317,93 +273,6 @@ bool StepMotorCtrlModule::read_zero_io_state() {
return false;
}
int32_t StepMotorCtrlModule::exec_move_to_zero_task(int32_t& dx) {
int32_t xnow;
getnowpos(xnow);
int32_t ret = exec_move_to_zero_task();
int32_t xnow2;
getnowpos(xnow2);
dx = xnow2 - xnow;
return ret;
}
int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
/*******************************************************************************
* 第一次移动到零点 *
*******************************************************************************/
if (!m_Xgpio->getState()) {
{
ZLOGI(TAG, "---------STEP1-------- move to zero first");
_rotate(-m_param.motor_run_to_zero_speed, m_param.motor_default_acc, m_param.motor_run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
if (m_Xgpio->getState()) {
xreach_zero = true;
_motor_stop(-1);
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
_motor_stop(-1);
vTaskDelay(10);
}
break;
}
vTaskDelay(1);
}
if (!xreach_zero) {
// 触发异常回调
ZLOGE(TAG, "x reach zero failed");
return err::kxymotor_not_found_x_zero_point;
}
}
}
/*******************************************************************************
* 远离X零点 *
*******************************************************************************/
{
ZLOGI(TAG, "---------STEP2-------- leave away zero");
/**
* @brief 如果设备已经在零点，则反向移动一定距离远离零点
*/
if (m_Xgpio->getState()) {
_rotate(m_param.motor_look_zero_edge_speed, m_param.motor_default_acc, m_param.motor_look_zero_edge_dec);
while (true) {
if (m_thread.getExitFlag()) break;
if (!m_Xgpio->getState()) {
_motor_stop(-1);
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
vTaskDelay(1);
}
break;
}
vTaskDelay(1);
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kmodule_opeation_break_by_user;
}
if (m_Xgpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
return err::kxymotor_x_find_zero_edge_fail;
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
}
ZLOGI(TAG, "x reach zero");
ZLOGI(TAG, "move_to_zero success");
return 0;
}
void StepMotorCtrlModule::_rotate(int32_t vel, int32_t acc, int32_t dec) {
ZLOGI(TAG, "m%d _rotate %d %d %d", m_id, vel, acc, dec);
m_stepM1->setAcceleration(acc);
@ -415,15 +284,15 @@ void StepMotorCtrlModule::getnowpos(int32_t& pos) {
int32_t motor_pos = m_stepM1->getXACTUAL();
inverse_kinematics(motor_pos, pos);
}
void StepMotorCtrlModule::_motor_move_to(int32_t pos, int32_t maxv, int32_t acc, int32_t dec) {
ZLOGI(TAG, "m%d _motor_move_to %d maxv:%d acc:%d dec:%d", m_id, pos, maxv, acc, dec);
void StepMotorCtrlModule::_move_to_nolimit(int32_t pos, int32_t maxv, int32_t acc, int32_t dec) {
ZLOGI(TAG, "m%d _move_to_nolimit %d maxv:%d acc:%d dec:%d", m_id, pos, maxv, acc, dec);
m_stepM1->setAcceleration(acc);
m_stepM1->setDeceleration(dec);
int32_t motor_pos = 0;
forward_kinematics(pos, motor_pos);
m_stepM1->moveTo(motor_pos, maxv);
}
void StepMotorCtrlModule::_motor_move_by(int32_t dpos, int32_t maxv, int32_t acc, int32_t dec) {
void StepMotorCtrlModule::_move_by_nolimit(int32_t dpos, int32_t maxv, int32_t acc, int32_t dec) {
ZLOGI(TAG, "m%d _motor_move_by %d maxv:%d acc:%d dec:%d", m_id, dpos, maxv, acc, dec);
m_stepM1->setAcceleration(acc);
m_stepM1->setDeceleration(dec);
@ -500,7 +369,6 @@ int32_t StepMotorCtrlModule::do_motor_action_block_2(function<int32_t()> action,
}
int32_t StepMotorCtrlModule::do_motor_action_block(function<int32_t()> action) { return do_motor_action_block_2(action, nullptr); }
int32_t StepMotorCtrlModule::move_to_block(int32_t tox, int overtime) {
return do_motor_action_block([this, tox]() { return move_to(tox, nullptr); });
}
@ -618,9 +486,7 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
return 0;
}
int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { return 0; }
int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
int32_t StepMotorCtrlModule::module_readio(int32_t* io) {
*io = 0;
for (int32_t i = 0; i < m_nio; i++) {
@ -640,14 +506,12 @@ int32_t StepMotorCtrlModule::module_read_adc(int32_t adcindex, int32_t* adc) {
*adc = 0;
return 0;
}
int32_t StepMotorCtrlModule::module_factory_reset() { return factory_reset(); }
int32_t StepMotorCtrlModule::module_flush_cfg() { return flush(); }
int32_t StepMotorCtrlModule::module_active_cfg() {
active_cfg();
return 0;
}
int32_t StepMotorCtrlModule::motor_enable(int32_t varenable) {
zlock_guard l(m_lock);
ZLOGI(TAG, "m%d motor_enable %ld", m_id, varenable);
@ -691,7 +555,7 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity,
m_thread.start(
[this, tox, motor_velocity, acc]() {
_motor_move_to(tox, motor_velocity, acc, acc);
_move_to_nolimit(tox, motor_velocity, acc, acc);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
vTaskDelay(10);
@ -702,13 +566,6 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity,
// ZLOGI(TAG, "m%d motor_move_to %d end", m_id, tox);
return 0;
}
int32_t StepMotorCtrlModule::motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {
ZLOGI(TAG, "motor_move_to_zero_backward");
if (findzerospeed != 0) {
@ -724,9 +581,7 @@ int32_t StepMotorCtrlModule::motor_move_to_zero_backward(int32_t findzerospeed,
return move_to_zero(nullptr);
}
int32_t StepMotorCtrlModule::motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return move_to_zero_with_calibrate(0, nullptr); }
int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
int32_t xnow = 0;
getnowpos(xnow);
@ -750,7 +605,7 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
[this]() {
//
int32_t dx;
int32_t erro = exec_move_to_zero_task(dx);
int32_t erro = _exec_move_to_zero_task(dx);
if (erro != 0) {
set_last_exec_status(erro);
} else {
@ -769,26 +624,194 @@ int32_t StepMotorCtrlModule::motor_easy_rotate(int32_t direction) {
m_thread.stop();
_rotate(direction * m_param.motor_default_velocity, m_param.motor_default_acc, m_param.motor_default_dec);
return 0;
};
}
int32_t StepMotorCtrlModule::motor_easy_move_by(int32_t distance) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "m%d motor_easy_move_by %d", m_id, distance);
m_thread.stop();
return motor_move_by(distance, m_param.motor_default_velocity, m_param.motor_default_acc);
};
}
int32_t StepMotorCtrlModule::motor_easy_move_to(int32_t position) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "m%d motor_easy_move_to %d", m_id, position);
m_thread.stop();
return motor_move_to(position, m_param.motor_default_velocity, m_param.motor_default_acc);
};
}
int32_t StepMotorCtrlModule::motor_easy_move_to_zero(int32_t direction) {
if (direction <= 0) {
return move_to_zero(nullptr);
} else {
return err::koperation_not_support;
}
};
}
int32_t StepMotorCtrlModule::motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return _exec_move_to_io_task(ioindex, direction); }
/*******************************************************************************
* EXEC_TASK *
*******************************************************************************/
int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) {
m_thread.stop();
m_thread.start([this, ioindex, direction]() { m_com_reg.module_last_cmd_exec_status = _exec_move_to_io_task_fn(ioindex, direction); });
return 0;
}
int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) {
int32_t runToPointSpeed = m_param.motor_run_to_zero_speed;
int32_t runToPointDec = m_param.motor_run_to_zero_dec;
// int32_t runToPointMaxD = m_param.motor_run_to_zero_max_d;
int32_t lookPointVelocity = m_param.motor_look_zero_edge_speed;
int32_t lookPointDec = m_param.motor_look_zero_edge_dec;
// int32_t lookPointMaxD = m_param.motor_look_zero_edge_max_d;
direction = direction >= 0 ? 1 : -1;
ZGPIO* gpio = &m_iotable[ioindex];
if (!gpio->getState()) {
ZLOGI(TAG, "---------STEP1-------- move to point");
_rotate(runToPointSpeed * direction, runToPointDec, runToPointDec);
bool xreach_io = false;
while (!m_thread.getExitFlag()) {
if (gpio->getState()) {
xreach_io = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
// 等待电机停止
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) {
_motor_stop(-1);
vTaskDelay(100);
}
// 失败返回
if (!xreach_io) {
ZLOGE(TAG, "x reach io failed");
return err::kxymotor_not_found_x_zero_point;
}
}
// 如果设备已经在零点，则反向移动一定距离远离零点
if (gpio->getState()) {
ZLOGI(TAG, "---------STEP2-------- find edge");
_rotate(-direction * lookPointVelocity, lookPointDec, lookPointDec);
bool reach_edge = false;
while (!m_thread.getExitFlag()) {
if (!gpio->getState()) {
reach_edge = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
_motor_stop(-1);
vTaskDelay(100);
}
if (!reach_edge) {
ZLOGE(TAG, "leave away zero failed");
return err::kxymotor_x_find_zero_edge_fail;
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kmodule_opeation_break_by_user;
}
int32_t StepMotorCtrlModule::motor_easy_move_to_io(int32_t direction, int32_t io_index) { return 0; }
ZLOGI(TAG, "_exec_move_to_io_task_fn success");
return 0;
}
int32_t StepMotorCtrlModule::_exec_move_to_zero_task(int32_t& dx) {
int32_t pos1 = 0;
int32_t pos2 = 0;
int32_t ret = 0;
getnowpos(pos1);
ret = _exec_move_to_zero_task();
getnowpos(pos2);
dx = pos2 - pos1;
return ret;
}
int32_t StepMotorCtrlModule::_exec_move_to_zero_task() {
/*******************************************************************************
* 第一次移动到零点 *
*******************************************************************************/
if (!m_Xgpio->getState()) {
{
ZLOGI(TAG, "---------STEP1-------- move to zero first");
_rotate(-m_param.motor_run_to_zero_speed, m_param.motor_default_acc, m_param.motor_run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
if (m_Xgpio->getState()) {
xreach_zero = true;
_motor_stop(-1);
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
_motor_stop(-1);
vTaskDelay(10);
}
break;
}
vTaskDelay(1);
}
if (!xreach_zero) {
// 触发异常回调
ZLOGE(TAG, "x reach zero failed");
return err::kxymotor_not_found_x_zero_point;
}
}
}
/*******************************************************************************
* 远离X零点 *
*******************************************************************************/
{
ZLOGI(TAG, "---------STEP2-------- leave away zero");
/**
* @brief 如果设备已经在零点，则反向移动一定距离远离零点
*/
if (m_Xgpio->getState()) {
_rotate(m_param.motor_look_zero_edge_speed, m_param.motor_default_acc, m_param.motor_look_zero_edge_dec);
while (true) {
if (m_thread.getExitFlag()) break;
if (!m_Xgpio->getState()) {
_motor_stop(-1);
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
vTaskDelay(1);
}
break;
}
vTaskDelay(1);
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kmodule_opeation_break_by_user;
}
if (m_Xgpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
return err::kxymotor_x_find_zero_edge_fail;
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
}
ZLOGI(TAG, "x reach zero");
ZLOGI(TAG, "move_to_zero success");
return 0;
}

60
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -82,21 +82,10 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
virtual bool isbusy();
virtual int32_t get_last_exec_status() { return m_com_reg.module_last_cmd_exec_status; };
virtual int32_t move_to(int32_t tox, action_cb_status_t status_cb);
virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb);
virtual int32_t move_to(int32_t x, int32_t velocity, action_cb_status_t status_cb);
virtual int32_t move_by(int32_t dx, int32_t velocity, action_cb_status_t status_cb);
virtual int32_t calculate_curpos(action_cb_status_t status_cb);
virtual int32_t read_calculate_curpos_action_result(int32_t& pos);
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb);
virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec);
virtual int32_t get_logic_point(int logic_point_num, logic_point_t& logic_point);
virtual int32_t move_to_zero(action_cb_status_t status_cb);
virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb);
virtual int32_t move_to_block(int32_t tox, int overtime = 0);
virtual int32_t move_by_block(int32_t dx, int overtime = 0);
@ -106,22 +95,14 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
virtual int32_t move_to_zero_block(int overtime = 0);
virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime = 0);
virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb);
virtual int32_t enable(bool venable);
virtual int32_t stop(uint8_t stopType);
virtual int32_t force_change_current_pos(int32_t x);
virtual int32_t set_base_param(const base_param_t& param);
virtual int32_t get_base_param(base_param_t& param);
virtual int32_t read_pos(int32_t& pos);
virtual int32_t read_pos();
virtual bool read_zero_io_state();
virtual int32_t flush();
virtual int32_t factory_reset();
int32_t do_motor_action_block_2(function<int32_t()> action, function<int32_t(bool&, int periodcount)> break_condition);
/*******************************************************************************
@ -154,27 +135,18 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t* pos) override;
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_calculated_pos_by_move_to_zero() override;
virtual int32_t motor_easy_rotate(int32_t direction) override;
virtual int32_t motor_easy_move_by(int32_t distance) override;
virtual int32_t motor_easy_move_to(int32_t position) override;
virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
virtual int32_t motor_easy_move_to_io(int32_t direction, int32_t io_index) override;
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
IStepperMotor* _getStepMotor() { return m_stepM1; }
base_param_t& _get_base_param() { return m_param; }
@ -187,11 +159,8 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
void getnowpos(int32_t& pos);
int32_t exec_move_to_zero_task(int32_t& dx);
int32_t exec_move_to_zero_task();
void _motor_move_to(int32_t pos, int32_t maxv, int32_t acc, int32_t dec);
void _motor_move_by(int32_t dpos, int32_t maxv, int32_t acc, int32_t dec);
void _move_to_nolimit(int32_t pos, int32_t maxv, int32_t acc, int32_t dec);
void _move_by_nolimit(int32_t dpos, int32_t maxv, int32_t acc, int32_t dec);
void _motor_stop(int32_t dec = -1);
bool _motor_is_reach_target();
void _rotate(int32_t vel, int32_t acc, int32_t dec);
@ -208,8 +177,31 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
private:
int32_t _read_io();
#if 1
int32_t move_to(int32_t tox, action_cb_status_t status_cb);
int32_t move_by(int32_t dx, action_cb_status_t status_cb);
int32_t move_to(int32_t x, int32_t velocity, action_cb_status_t status_cb);
int32_t move_by(int32_t dx, int32_t velocity, action_cb_status_t status_cb);
int32_t calculate_curpos(action_cb_status_t status_cb);
int32_t move_to_zero(action_cb_status_t status_cb);
int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb);
int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb);
int32_t read_calculate_curpos_action_result(int32_t& pos);
int32_t flush();
int32_t factory_reset();
#endif
private:
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
private:
/*******************************************************************************
* EXEC_TASK *
*******************************************************************************/
int32_t _exec_move_to_zero_task(int32_t& dx);
int32_t _exec_move_to_zero_task();
int32_t _exec_move_to_io_task(int32_t ioindex, int32_t direction);
int32_t _exec_move_to_io_task_fn(int32_t ioindex, int32_t direction);
};
} // namespace iflytop

2
components/zprotocols/zcancmder_v2

@ -1 +1 @@
Subproject commit 006b7d8844cea0f95bc64f672cb3e7b82108e9ed
Subproject commit 445108a21644b9b770452e7f463615e248f5c504
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