update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 653a4997e1a69abf06244714b255876534ca55a8
+Subproject commit 59082bcc8c2a856133f693619bbd1fdc64dba0fd

src/tab/step_motor_ctrl_tab.cpp

@@ -43,13 +43,6 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
       ZQUI::ins()->ishow("Pos:%d", pos);
     });
 
-    box->newSubButton("读取位置2", [this](int argn, const char **args) {
-      int32_t pos = 0;
-      ICM->callcmd0(getDeviceId(), kstep_motor_read_pos_and_enc_pos);
-      ZQUI::ins()->ishow("Pos   :%d", ICM->getAck(0));
-      ZQUI::ins()->ishow("EncPos:%d", ICM->getAck(1));
-    });
-
     box->newSubButton("读取IO状态", [this](int argn, const char **args) {
       int32_t portState    = 0;
       int32_t indexInStm32 = 0;
@@ -118,8 +111,6 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
 
     tableBox->addReg("pos", kreg_step_motor_pos, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("dpos", kreg_step_motor_dpos, ZRegItem::krw | ZRegItem::kdec);
-    tableBox->addReg("enc_val", kreg_step_motor_enc_val, ZRegItem::krw | ZRegItem::kdec);
-    tableBox->addReg("denc_val", kreg_step_motor_denc_val, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("shift", kreg_step_motor_shift, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("shaft", kreg_step_motor_shaft, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("one_circle_pulse", kreg_step_motor_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);

src/tab/xyrobot_tab.cpp

@@ -50,14 +50,23 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
       y = ICM->getAck(1);
       ZQUI::ins()->ishow("x,y(%d,%d)", x, y);
     });
+
+    box->newSubButton("直接读取电机编码器", [this](int argn, const char **args) {
+      ICM->callcmd0(getDeviceId(), kxymotor_read_enc_direct);
+      int32_t motor1_enc = ICM->getAck(0);
+      int32_t motor2_enc = ICM->getAck(1);
+      ZQUI::ins()->ishow("motor1_enc:%d motor2_enc:%d", motor1_enc, motor2_enc);
+    });
+
     box->newFunc("设置位置", {"x", "y"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_set_pos, atoi(args[0]), atoi(args[1])); });
     box->newFunc("相对移动", {"dx", "dy", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_by, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
     box->newFunc("绝对移动", {"x", "y", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_to, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
+    box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
 
     box->newFunc("读取全部输入IO", {}, [this](int argn, const char **args) {
       int32_t portState    = 0;
       int32_t indexInStm32 = 0;
-      for (int i = 0; i < 10; i++) {
+      for (int i = 0; i < 4; i++) {
         try {
           ICM->callcmd1(getDeviceId(), kxymotor_read_inio_index_in_stm32, i);
           indexInStm32 = ICM->getAck(0);
@@ -65,7 +74,18 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
           portState = ICM->getAck(0);
           if (indexInStm32 == 0) continue;
 
-          ZQUI::ins()->ishow("io%d(%s):%d", i, stm32pin2str((Pin_t)indexInStm32).c_str(), portState);
+          const char *tag = "x-zero";
+          if (i == 0) {
+            tag = "x-zero";
+          } else if (i == 1) {
+            tag = "y-zero";
+          } else if (i == 2) {
+            tag = "x-limit";
+          } else if (i == 3) {
+            tag = "y-limit";
+          }
+
+          ZQUI::ins()->ishow("%s (%s):%d", tag, stm32pin2str((Pin_t)indexInStm32).c_str(), portState);
         } catch (const std::exception &e) {
           break;
         }