p_transmit_disinfection
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dbdb_liquid_path_control_protocol_v1
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update

master
zhaohe 2 years ago
parent
73967e8e63
commit
bb3cb97170
2 changed files with 11 additions and 11 deletions
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  1. 2
      sdk
  2. 20
      usrc/main.cpp

2
sdk

@ -1 +1 @@
Subproject commit 94440affd81faecb8bd42e26b3e31c3a19d332f0
Subproject commit 2760a09de3872be0335ead5fde4a62ceb521d369

20
usrc/main.cpp
View File

@ -124,16 +124,16 @@ void umain() {
* zcanXYRobotCtrlModule *
*******************************************************************************/
ZGPIO input[8];
input[0].initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], XYRobotCtrlModule_1_FLASH_MARK);
input[0].initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
xyRobotCtrlModule.initialize(&motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
xyRobotCtrlModule.dumpcfg();
zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);

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