project_boditech_vidas_a8000_v3
/
a8000_pc_qt_upper
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 1 year ago
parent
c491af291a
commit
521999a447
9 changed files with 192 additions and 40 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      CMakeLists.txt
  2. 24
      README.md
  3. 2
      a8000_protocol
  4. 29
      iflytop_canbus/iflytop_canbus_master.cpp
  5. 12
      iflytop_canbus/iflytop_canbus_master.hpp
  6. 2
      src/mainwindow.cpp
  7. 20
      src/mainwindow.ui
  8. 98
      src/tab/xyrobot_tab.cpp
  9. 43
      src/tab/xyrobot_tab.hpp

2
CMakeLists.txt
View File

@ -60,6 +60,8 @@ set(PROJECT_SOURCES
src/tab/pipette_ctrl_tab.cpp src/tab/pipette_ctrl_tab.cpp
src/basic/stm32_pin.cpp src/basic/stm32_pin.cpp
src/tab/xyrobot_tab.cpp
app.rc app.rc
) )

24
README.md
View File

@ -65,17 +65,17 @@ V4:
``` ```
ID地址: ID地址:
0x080E0000 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)
``` ```

2
a8000_protocol

@ -1 +1 @@
Subproject commit 6486ccf75f3e6bd05c7454ff994d8c003d908227
Subproject commit fad4311315d63e2db871959f67a0fb5e5c07af38

29
iflytop_canbus/iflytop_canbus_master.cpp
View File

@ -7,7 +7,8 @@
using namespace iflytop; using namespace iflytop;
using namespace zcr; using namespace zcr;
#define TAG "IflytopCanbusMaster"
#define TAG "IflytopCanbusMaster"
#define G_OVERTIME 100
IflytopCanbusMaster *IflytopCanbusMaster::ins() { IflytopCanbusMaster *IflytopCanbusMaster::ins() {
static IflytopCanbusMaster *ins = new IflytopCanbusMaster(); static IflytopCanbusMaster *ins = new IflytopCanbusMaster();
@ -99,9 +100,15 @@ void IflytopCanbusMaster::processRxPacket(zcr_cmd_header_t *frame, size_t len) {
void IflytopCanbusMaster::updateChannelConfig() { // void IflytopCanbusMaster::updateChannelConfig() { //
m_waveCan.setCanpPrameter(CANUSB_SPEED_500000, CANUSB_MODE_NORMAL, CANUSB_FRAME_EXTENDED); 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) { 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]); *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; } uint8_t *IflytopCanbusMaster::getAckBuf() { return m_receipt_frame->data; }
int32_t IflytopCanbusMaster::getAckBufLen() { return m_receipt_len - sizeof(zcr_cmd_header_t); } 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]; int32_t param[4];
param[0] = param0; 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]; int32_t param[4];
param[0] = param0; param[0] = param0;
param[1] = param1; 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]; int32_t param[4];
param[0] = param0; param[0] = param0;
param[1] = param1; param[1] = param1;
param[2] = param2; 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) { // void IflytopCanbusMaster::callcmd(int32_t device_id, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime) { //

12
iflytop_canbus/iflytop_canbus_master.hpp
View File

@ -88,11 +88,11 @@ class IflytopCanbusMaster {
void regOnRawData(on_raw_data_t cb) { on_rx_raw = cb; } void regOnRawData(on_raw_data_t cb) { on_rx_raw = cb; }
void updateChannelConfig(); 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); 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(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_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_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_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) { 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); callcmd1(device_id, kstep_motor_read_io_state, io);

2
src/mainwindow.cpp
View File

@ -29,6 +29,7 @@
#include "tab/pipette_ctrl_tab.hpp" #include "tab/pipette_ctrl_tab.hpp"
#include "tab/step_motor_ctrl_tab.hpp" #include "tab/step_motor_ctrl_tab.hpp"
#include "tab/water_cooling_temperature_tab.hpp" #include "tab/water_cooling_temperature_tab.hpp"
#include "tab/xyrobot_tab.hpp"
#include "version.h" #include "version.h"
using namespace std; using namespace std;
@ -302,6 +303,7 @@ void MainWindow::constructAppUI() {
WaterCoolingTemperatureControlerTab::inst()->construct(ui->buttonTabWidget); WaterCoolingTemperatureControlerTab::inst()->construct(ui->buttonTabWidget);
FanCtrlTab::inst()->construct(ui->buttonTabWidget); FanCtrlTab::inst()->construct(ui->buttonTabWidget);
XYRobotTab::inst()->construct(ui->buttonTabWidget);
} }
void MainWindow::on_PublicState_ConfirmKey_clicked() {} void MainWindow::on_PublicState_ConfirmKey_clicked() {}

20
src/mainwindow.ui
View File

@ -992,12 +992,12 @@ QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
<html><head><meta name="qrichtext" content="1" /><style type="text/css"> <html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> </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;"> 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;"> 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->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;"> 31:步进夹爪 (单位0.1mm,单边开合范围0->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;"> 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> <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;"> 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;"> 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;"> </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;"> 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;"> 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> <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;"> 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;"> 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;"> 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;"> 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;"> 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;"> 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;"> 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;"> 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;"> 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;"> 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>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;&quot;&gt; 读卡器(101)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Consolas','Courier New','monospace'; font-size:11pt; color:#ff0000;&quot;&gt; 读卡器(101)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
</widget> </widget>

98
src/tab/xyrobot_tab.cpp
View File

@ -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();
}

43
src/tab/xyrobot_tab.hpp
View File

@ -0,0 +1,43 @@
#pragma once
#include <QDateTime>
#include <QMainWindow>
#include <QMessageBox>
#include <QObject>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QtWidgets/QAction>
#include <QtWidgets/QApplication>
#include <QtWidgets/QComboBox>
#include <QtWidgets/QFormLayout>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QGroupBox>
#include <QtWidgets/QHBoxLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QLineEdit>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenu>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QSpacerItem>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QTabWidget>
#include <QtWidgets/QTextBrowser>
#include <QtWidgets/QTextEdit>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
//
#include <functional>
namespace iflytop {
using namespace std;
class XYRobotTab {
public:
static XYRobotTab *inst();
void construct(QTabWidget *fathertab);
};
} // namespace iflytop
Write Preview
Loading…
Cancel
Save