From d9437a46ec4fa957c3ab3b622c415e93939a2ba8 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 29 Oct 2023 11:14:16 +0800 Subject: [PATCH] update --- .settings/language.settings.xml | 4 +- flia_robot_arm_v1 Debug.cfg | 44 ------------------ flia_robot_arm_v1 Debug.launch | 98 ----------------------------------------- hbot_robot_controler.cfg | 44 ++++++++++++++++++ hbot_robot_controler.launch | 98 +++++++++++++++++++++++++++++++++++++++++ sdk | 2 +- usrc/main.cpp | 4 +- usrc/project_configs.h | 4 +- 8 files changed, 149 insertions(+), 149 deletions(-) delete mode 100644 flia_robot_arm_v1 Debug.cfg delete mode 100644 flia_robot_arm_v1 Debug.launch create mode 100644 hbot_robot_controler.cfg create mode 100644 hbot_robot_controler.launch diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index b52317d..48cb063 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/flia_robot_arm_v1 Debug.cfg b/flia_robot_arm_v1 Debug.cfg deleted file mode 100644 index ef37116..0000000 --- a/flia_robot_arm_v1 Debug.cfg +++ /dev/null @@ -1,44 +0,0 @@ -# This is an genericBoard board with a single STM32F407VETx chip -# -# Generated by STM32CubeIDE -# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s) - -source [find interface/stlink-dap.cfg] - - -set WORKAREASIZE 0x8000 - -transport select "dapdirect_swd" - -set CHIPNAME STM32F407VETx -set BOARDNAME genericBoard - -# Enable debug when in low power modes -set ENABLE_LOW_POWER 1 - -# Stop Watchdog counters when halt -set STOP_WATCHDOG 1 - -# STlink Debug clock frequency -set CLOCK_FREQ 8000 - -# Reset configuration -# use hardware reset, connect under reset -# connect_assert_srst needed if low power mode application running (WFI...) -reset_config srst_only srst_nogate connect_assert_srst -set CONNECT_UNDER_RESET 1 -set CORE_RESET 0 - -# ACCESS PORT NUMBER -set AP_NUM 0 -# GDB PORT -set GDB_PORT 3333 - - - - - -# BCTM CPU variables - -source [find target/stm32f4x.cfg] - diff --git a/flia_robot_arm_v1 Debug.launch b/flia_robot_arm_v1 Debug.launch deleted file mode 100644 index 21330fd..0000000 --- a/flia_robot_arm_v1 Debug.launch +++ /dev/null @@ -1,98 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/hbot_robot_controler.cfg b/hbot_robot_controler.cfg new file mode 100644 index 0000000..ef37116 --- /dev/null +++ b/hbot_robot_controler.cfg @@ -0,0 +1,44 @@ +# This is an genericBoard board with a single STM32F407VETx chip +# +# Generated by STM32CubeIDE +# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s) + +source [find interface/stlink-dap.cfg] + + +set WORKAREASIZE 0x8000 + +transport select "dapdirect_swd" + +set CHIPNAME STM32F407VETx +set BOARDNAME genericBoard + +# Enable debug when in low power modes +set ENABLE_LOW_POWER 1 + +# Stop Watchdog counters when halt +set STOP_WATCHDOG 1 + +# STlink Debug clock frequency +set CLOCK_FREQ 8000 + +# Reset configuration +# use hardware reset, connect under reset +# connect_assert_srst needed if low power mode application running (WFI...) +reset_config srst_only srst_nogate connect_assert_srst +set CONNECT_UNDER_RESET 1 +set CORE_RESET 0 + +# ACCESS PORT NUMBER +set AP_NUM 0 +# GDB PORT +set GDB_PORT 3333 + + + + + +# BCTM CPU variables + +source [find target/stm32f4x.cfg] + diff --git a/hbot_robot_controler.launch b/hbot_robot_controler.launch new file mode 100644 index 0000000..21330fd --- /dev/null +++ b/hbot_robot_controler.launch @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sdk b/sdk index 52bc198..8ce6efe 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 52bc198b128ba53095ad68dfab924669c25dc6dd +Subproject commit 8ce6efeeb5117fb2d1cd878178dec0aff4d7ed63 diff --git a/usrc/main.cpp b/usrc/main.cpp index 4b4996d..2b41da3 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -92,11 +92,11 @@ void umain() { motora.setAcceleration(300); motora.setDeceleration(300); - motora.setIHOLD_IRUN(0, 2, 10); + motora.setIHOLD_IRUN(0, 4, 10); motorb.setAcceleration(300); motorb.setDeceleration(300); - motorb.setIHOLD_IRUN(0, 2, 10); + motorb.setIHOLD_IRUN(0, 4, 10); motora.rotate(0); motorb.rotate(0); diff --git a/usrc/project_configs.h b/usrc/project_configs.h index 1c88612..0aaa3db 100644 --- a/usrc/project_configs.h +++ b/usrc/project_configs.h @@ -13,8 +13,8 @@ #define IFLYTOP_ENABLE_OS 1 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5 -#define MODULE_ID (3) -#define BOARD_ID (3) +#define MODULE_ID (1) +#define BOARD_ID (1) /****************************************FLASH***************************************/ #define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8