diff --git a/CMakeLists.txt b/CMakeLists.txt index acaca84..5fc3924 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -60,6 +60,8 @@ set(PROJECT_SOURCES src/tab/pipette_ctrl_tab.cpp src/basic/stm32_pin.cpp + src/tab/xyrobot_tab.cpp + app.rc ) diff --git a/README.md b/README.md index c7d8e32..2972bac 100644 --- a/README.md +++ b/README.md @@ -65,17 +65,17 @@ V4: ``` ID地址: 0x080E0000 -10 :A -20 :14 -30 :1E -40 :28 -50 :32 -60 :3C -70 :46 -80 :50 -90 :5A -100:64 -110:6E -200:CB +10 :(0x0A) +20 :(0x14) +30 :(0x1E) +40 :(0x28) +50 :(0x32) +60 :(0x3C) +70 :(0x46) +80 :(0x50) +90 :(0x5A) +100:(0x64) +110:(0x6E) +200:(0xCB) ``` \ No newline at end of file diff --git a/a8000_protocol b/a8000_protocol index 6486ccf..fad4311 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit 6486ccf75f3e6bd05c7454ff994d8c003d908227 +Subproject commit fad4311315d63e2db871959f67a0fb5e5c07af38 diff --git a/iflytop_canbus/iflytop_canbus_master.cpp b/iflytop_canbus/iflytop_canbus_master.cpp index d7dd7d7..b7da791 100644 --- a/iflytop_canbus/iflytop_canbus_master.cpp +++ b/iflytop_canbus/iflytop_canbus_master.cpp @@ -7,7 +7,8 @@ using namespace iflytop; using namespace zcr; -#define TAG "IflytopCanbusMaster" +#define TAG "IflytopCanbusMaster" +#define G_OVERTIME 100 IflytopCanbusMaster *IflytopCanbusMaster::ins() { static IflytopCanbusMaster *ins = new IflytopCanbusMaster(); @@ -99,9 +100,15 @@ void IflytopCanbusMaster::processRxPacket(zcr_cmd_header_t *frame, size_t len) { void IflytopCanbusMaster::updateChannelConfig() { // m_waveCan.setCanpPrameter(CANUSB_SPEED_500000, CANUSB_MODE_NORMAL, CANUSB_FRAME_EXTENDED); } -void IflytopCanbusMaster::ping(int32_t device_id) { callcmd0(device_id, kmodule_ping, 10); } +void IflytopCanbusMaster::ping(int32_t device_id) { + int32_t param[4]; + callcmd(device_id, kmodule_ping, (uint8_t *)nullptr, 0, 10); +} void IflytopCanbusMaster::readreg(int32_t device_id, int32_t regaddr, int32_t *val) { - callcmd1(device_id, kmodule_get_reg, regaddr, 10); + int32_t param[4]; + param[0] = regaddr; + callcmd(device_id, kmodule_get_reg, (uint8_t *)param, 4, 10); + *val = *(int32_t *)(&m_receipt_frame->data[0]); } @@ -110,27 +117,27 @@ int32_t IflytopCanbusMaster::getAck(int32_t index) { return *(int32_t *)(&m_rece uint8_t *IflytopCanbusMaster::getAckBuf() { return m_receipt_frame->data; } int32_t IflytopCanbusMaster::getAckBufLen() { return m_receipt_len - sizeof(zcr_cmd_header_t); } -void IflytopCanbusMaster::writereg(int32_t device_id, int32_t regaddr, int32_t val) { callcmd2(device_id, kmodule_set_reg, regaddr, val, 10); } +void IflytopCanbusMaster::writereg(int32_t device_id, int32_t regaddr, int32_t val) { callcmd2(device_id, kmodule_set_reg, regaddr, val); } -void IflytopCanbusMaster::callcmd0(int32_t device_id, int32_t cmdid, int32_t overtime) { callcmd(device_id, cmdid, nullptr, 0, overtime); } +void IflytopCanbusMaster::callcmd0(int32_t device_id, int32_t cmdid) { callcmd(device_id, cmdid, nullptr, 0,G_OVERTIME); } -void IflytopCanbusMaster::callcmd1(int32_t device_id, int32_t cmdid, int32_t param0, int32_t overtime) { +void IflytopCanbusMaster::callcmd1(int32_t device_id, int32_t cmdid, int32_t param0) { int32_t param[4]; param[0] = param0; - callcmd(device_id, cmdid, (uint8_t *)param, 4, overtime); + callcmd(device_id, cmdid, (uint8_t *)param, 4, G_OVERTIME); } -void IflytopCanbusMaster::callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t overtime) { +void IflytopCanbusMaster::callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1) { int32_t param[4]; param[0] = param0; param[1] = param1; - callcmd(device_id, cmdid, (uint8_t *)param, 8, overtime); + callcmd(device_id, cmdid, (uint8_t *)param, 8, G_OVERTIME); } -void IflytopCanbusMaster::callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t overtime) { +void IflytopCanbusMaster::callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2) { int32_t param[4]; param[0] = param0; param[1] = param1; param[2] = param2; - callcmd(device_id, cmdid, (uint8_t *)param, 12, overtime); + callcmd(device_id, cmdid, (uint8_t *)param, 12, G_OVERTIME); } void IflytopCanbusMaster::callcmd(int32_t device_id, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime) { // diff --git a/iflytop_canbus/iflytop_canbus_master.hpp b/iflytop_canbus/iflytop_canbus_master.hpp index ac97895..a9d1ecf 100644 --- a/iflytop_canbus/iflytop_canbus_master.hpp +++ b/iflytop_canbus/iflytop_canbus_master.hpp @@ -88,11 +88,11 @@ class IflytopCanbusMaster { void regOnRawData(on_raw_data_t cb) { on_rx_raw = cb; } void updateChannelConfig(); - void callcmd(int32_t device_id, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime = 100); - void callcmd0(int32_t device_id, int32_t cmdid, int32_t overtime = 100); - void callcmd1(int32_t device_id, int32_t cmdid, int32_t param0, int32_t overtime = 100); - void callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t overtime = 100); - void callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t overtime = 100); + void callcmd(int32_t device_id, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime); + void callcmd0(int32_t device_id, int32_t cmdid); + void callcmd1(int32_t device_id, int32_t cmdid, int32_t param0); + void callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1); + void callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2); void sendraw(int32_t fromId, uint8_t *data, size_t len); @@ -114,7 +114,7 @@ class IflytopCanbusMaster { void step_motor_easy_move_to(int32_t device_id, int32_t position) { callcmd1(device_id, kstep_motor_easy_move_to, position); } void step_motor_easy_move_to_zero(int32_t device_id) { callcmd0(device_id, kstep_motor_easy_move_to_zero); } void step_motor_easy_set_current_pos(int32_t device_id, int32_t position) { callcmd1(device_id, kstep_motor_easy_set_current_pos, position); } - void step_motor_easy_move_to_io(int32_t device_id, int32_t io, int32_t direction) { callcmd1(device_id, kstep_motor_easy_move_to_io, io, direction); } + void step_motor_easy_move_to_io(int32_t device_id, int32_t io, int32_t direction) { callcmd2(device_id, kstep_motor_easy_move_to_io, io, direction); } void step_motor_active_cfg(int32_t device_id) { callcmd0(device_id, kstep_motor_active_cfg); } void step_motor_read_io_state(int32_t device_id, int32_t io, int32_t *state) { callcmd1(device_id, kstep_motor_read_io_state, io); diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp index 223786d..a33d81f 100644 --- a/src/mainwindow.cpp +++ b/src/mainwindow.cpp @@ -29,6 +29,7 @@ #include "tab/pipette_ctrl_tab.hpp" #include "tab/step_motor_ctrl_tab.hpp" #include "tab/water_cooling_temperature_tab.hpp" +#include "tab/xyrobot_tab.hpp" #include "version.h" using namespace std; @@ -302,6 +303,7 @@ void MainWindow::constructAppUI() { WaterCoolingTemperatureControlerTab::inst()->construct(ui->buttonTabWidget); FanCtrlTab::inst()->construct(ui->buttonTabWidget); + XYRobotTab::inst()->construct(ui->buttonTabWidget); } void MainWindow::on_PublicState_ConfirmKey_clicked() {} diff --git a/src/mainwindow.ui b/src/mainwindow.ui index c7fc4e0..23d9658 100644 --- a/src/mainwindow.ui +++ b/src/mainwindow.ui @@ -992,12 +992,12 @@ QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical { <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">10  机械臂 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">10(0x0A)  机械臂 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> XY机械臂模块(11)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">20  板夹仓模块 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">20(0x14)  板夹仓模块 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 板夹仓平移电机(21)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 板夹枪推杆电机(22)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">30  摇匀模组</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">30(0x1E)  摇匀模组</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 31:步进夹爪 (单位0.1mm,单边开合范围0-&gt;9mm，打开为正方向)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 32:步进升降 (正转向下，0.1mm)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 33:步进摇匀 (360为1圈)</span></p> @@ -1006,9 +1006,9 @@ p, li { white-space: pre-wrap; } <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 36:舵机-试管扫码夹紧(舵机一圈3600)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 37:舵机-试管旋转</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">40  孵育盘加热 加热模块</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">50  板夹仓加热</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">60  进出料 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">40(0x28)  孵育盘加热 加热模块</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">50(0x32)  板夹仓加热</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">60(0x3C)  进出料 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> IO扩展板(60)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> IO0:试管高低</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> IO1:转移通道外光电</span></p> @@ -1020,18 +1020,18 @@ p, li { white-space: pre-wrap; } <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 转移电机(62)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 出料电机(63)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 扫码器(64)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">70  孵育盘 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">70(0x46)  孵育盘 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 孵育盘转盘(71)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">80  机械臂Z轴 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">80(0x50)  机械臂Z轴 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> Z轴升降(81)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 移液枪(82)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 扫码器(83)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">90  光学模组 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">90(0x5A)  光学模组 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 拍照电机(91)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 推杆电机(92)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 光学模块(93)</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 光学板(90)</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">100 ID卡读卡器 </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;">100(0x64) ID卡读卡器 </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;"> 读卡器(101)</span></p></body></html> diff --git a/src/tab/xyrobot_tab.cpp b/src/tab/xyrobot_tab.cpp new file mode 100644 index 0000000..801034e --- /dev/null +++ b/src/tab/xyrobot_tab.cpp @@ -0,0 +1,98 @@ +#include "xyrobot_tab.hpp" + +#include "iflytop_canbus/iflytop_canbus_master.hpp" +#include "logger.hpp" +#include "qt_serial_datachannel.hpp" +#include "zexception.hpp" +#include "zui/z_function_list_box.hpp" +#include "zui/z_reg_table_list_box.hpp" +#include "zui/zq_vtab_page.hpp" +// +#include "../basic/stm32_pin.hpp" +#include "./mainwindow.h" +#include "zui\zqui.hpp" +// +using namespace iflytop; +using namespace std; + +extern Ui::MainWindow *main_ui; + +extern int getDeviceId(); + +XYRobotTab *XYRobotTab::inst() { + static XYRobotTab *ins = new XYRobotTab(); + return ins; +} + +static inline const char *hex2binstr(int32_t hex) { + static char buf[32]; + sprintf(buf, "%d%d%d%d_%d%d%d%d", (hex >> 7) & 1, (hex >> 6) & 1, (hex >> 5) & 1, (hex >> 4) & 1, (hex >> 3) & 1, (hex >> 2) & 1, (hex >> 1) & 1, (hex >> 0) & 1); + return buf; +} + +void XYRobotTab::construct(QTabWidget *fathertab) { + ZQVTabPage *tab = new ZQVTabPage(fathertab, "XY-Robot"); + /*********************************************************************************************************************** + * 模块操作 * + ***********************************************************************************************************************/ + { + ZQFunctionListBox *box = new ZQFunctionListBox(tab, "方法", 4); + + box->newFunc("使能", {}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kxymotor_enable, 1); }); + box->newFunc("失能", {}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kxymotor_enable, 0); }); + 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("移动到原点", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kxymotor_move_to_zero); }); + box->newFunc("读取位置", {}, [this](int argn, const char **args) { + int32_t x, y; + ICM->callcmd0(getDeviceId(), kxymotor_read_pos); + x = ICM->getAck(0); + y = ICM->getAck(1); + ZQUI::ins()->ishow("x,y(%d,%d)", x, y); + }); + } + + /*********************************************************************************************************************** + * 寄存器操作 * + ***********************************************************************************************************************/ + { + ZRegTableList *tableBox = new ZRegTableList(tab, "寄存器操作"); + tableBox->initializeRegOperation( + [this](int32_t add, int32_t val) { // + ICM->writereg(getDeviceId(), add, val); + return true; + }, + [this](int32_t add, int32_t *val) { // + ICM->readreg(getDeviceId(), add, val); + return true; + }); + + tableBox->addReg("default_velocity", kreg_xyrobot_default_velocity, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("default_acc", kreg_xyrobot_default_acc, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("default_dec", kreg_xyrobot_default_dec, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("default_break_dec", kreg_xyrobot_default_break_dec, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("run_to_zero_speed", kreg_xyrobot_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("run_to_zero_dec", kreg_xyrobot_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("look_zero_edge_speed", kreg_xyrobot_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("look_zero_edge_dec", kreg_xyrobot_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("ihold", kreg_xyrobot_ihold, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("irun", kreg_xyrobot_irun, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("iholddelay", kreg_xyrobot_iholddelay, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("robot_type", kreg_xyrobot_robot_type, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("x_shift", kreg_xyrobot_x_shift, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("y_shift", kreg_xyrobot_y_shift, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("x_shaft", kreg_xyrobot_x_shaft, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("y_shaft", kreg_xyrobot_y_shaft, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("x_one_circle_pulse", kreg_xyrobot_x_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("y_one_circle_pulse", kreg_xyrobot_y_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("run_to_zero_max_x_d", kreg_xyrobot_run_to_zero_max_x_d, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("run_to_zero_max_y_d", kreg_xyrobot_run_to_zero_max_y_d, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("look_zero_edge_max_x_d", kreg_xyrobot_look_zero_edge_max_x_d, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("look_zero_edge_max_y_d", kreg_xyrobot_look_zero_edge_max_y_d, ZRegItem::krw | ZRegItem::kdec); + tableBox->addReg("io_state0", kreg_xyrobot_io_state0, ZRegItem::krw | ZRegItem::kbinary); + + tableBox->addSpacer(); + } + + tab->addSpacer(); +} diff --git a/src/tab/xyrobot_tab.hpp b/src/tab/xyrobot_tab.hpp new file mode 100644 index 0000000..2f70d2b --- /dev/null +++ b/src/tab/xyrobot_tab.hpp @@ -0,0 +1,43 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +// +#include + +namespace iflytop { +using namespace std; + +class XYRobotTab { + public: + static XYRobotTab *inst(); + + void construct(QTabWidget *fathertab); +}; +} // namespace iflytop