diff --git a/api/apibasic/errorcode.hpp b/api/apibasic/errorcode.hpp index f7458b4..434ab9e 100644 --- a/api/apibasic/errorcode.hpp +++ b/api/apibasic/errorcode.hpp @@ -10,10 +10,10 @@ using namespace std; typedef enum { ksucc = ERROR_CODE(0, 0), kfail = ERROR_CODE(0, 1), - kparam_out_of_range = ERROR_CODE(0, 2), // 参数超出范围 - koperation_not_support = ERROR_CODE(0, 3), // 操作不支持 - kdevice_is_busy = ERROR_CODE(0, 4), // 设备忙 - kdevice_is_offline = ERROR_CODE(0, 5), // 设备离线 + kparam_out_of_range = ERROR_CODE(0, 2), // 鍙傛暟瓒呭嚭鑼冨洿 + koperation_not_support = ERROR_CODE(0, 3), // 鎿嶄綔涓嶆敮鎸 + kdevice_is_busy = ERROR_CODE(0, 4), // 璁惧蹇 + kdevice_is_offline = ERROR_CODE(0, 5), // 璁惧绂荤嚎 kovertime = ERROR_CODE(0, 6), knoack = ERROR_CODE(0, 7), kerrorack = ERROR_CODE(0, 8), @@ -29,7 +29,7 @@ typedef enum { khwardware_error = ERROR_CODE(0, 18), /** - * @brief 系统错误 + * @brief 绯荤粺閿欒 */ ksys_error = ERROR_CODE(100, 0), ksys_create_file_error = ERROR_CODE(100, 1), @@ -49,55 +49,55 @@ typedef enum { */ kmodule_not_inited = ERROR_CODE(200, 0), kmodule_not_found = ERROR_CODE(200, 1), - kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 用户中断 - kmodule_error = ERROR_CODE(200, 3), // 未知错误 - kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引 - kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引 - kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引 - kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引 + kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 鐢ㄦ埛涓柇 + kmodule_error = ERROR_CODE(200, 3), // 鏈煡閿欒 + kmodule_not_find_config_index = ERROR_CODE(200, 4), // 鏈壘鍒伴厤缃储寮 + kmodule_not_find_state_index = ERROR_CODE(200, 5), // 鏈壘鍒伴厤缃储寮 + kmodule_not_support_action = ERROR_CODE(200, 6), // 鏈壘鍒伴厤缃储寮 + kmodule_not_find_reg = ERROR_CODE(200, 7), // 鏈壘鍒伴厤缃储寮 /** * @brief motor error */ - kmotor_not_found_zero_point = ERROR_CODE(300, 0), // 未找到零点 - kmotor_did_not_go_zero = ERROR_CODE(300, 1), // 设备未归零 - kmotor_over_temperature = ERROR_CODE(300, 2), // 过温 - kmotor_over_voltage = ERROR_CODE(300, 3), // 过压 - kxymotor_not_found_x_zero_point = ERROR_CODE(300, 4), // 未找到零点 - kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 未找到零点 - kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 离开零点失败 - kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 离开零点失败 - kmotor_run_overtime = ERROR_CODE(300, 8), // 运行超时 - kmotor_not_enable = ERROR_CODE(300, 9), // 电机未使能 + kmotor_not_found_zero_point = ERROR_CODE(300, 0), // 鏈壘鍒伴浂鐐 + kmotor_did_not_go_zero = ERROR_CODE(300, 1), // 璁惧鏈綊闆 + kmotor_over_temperature = ERROR_CODE(300, 2), // 杩囨俯 + kmotor_over_voltage = ERROR_CODE(300, 3), // 杩囧帇 + kxymotor_not_found_x_zero_point = ERROR_CODE(300, 4), // 鏈壘鍒伴浂鐐 + kxymotor_not_found_y_zero_point = ERROR_CODE(300, 5), // 鏈壘鍒伴浂鐐 + kxymotor_x_find_zero_edge_fail = ERROR_CODE(300, 6), // 绂诲紑闆剁偣澶辫触 + kxymotor_y_find_zero_edge_fail = ERROR_CODE(300, 7), // 绂诲紑闆剁偣澶辫触 + kmotor_run_overtime = ERROR_CODE(300, 8), // 杩愯瓒呮椂 + kmotor_not_enable = ERROR_CODE(300, 9), // 鐢垫満鏈娇鑳 /** - * @brief STMP2错误 + * @brief STMP2閿欒 */ - kSMTP2_NoError = ERROR_CODE(400, 0), // 无错误 - kSMTP2_InitFail = ERROR_CODE(400, 1), // 初始化失败 - kSMTP2_InvalidCmd = ERROR_CODE(400, 2), // 无效命令 - kSMTP2_InvalidArg = ERROR_CODE(400, 3), // 无效参数 - kSMTP2_PressureSensorError = ERROR_CODE(400, 4), // 压力传感器故障 - kSMTP2_OverPressure = ERROR_CODE(400, 5), // 超过压力 - kSMTP2_LLDError = ERROR_CODE(400, 6), // LLD 错误 - kSMTP2_DeviceNotInit = ERROR_CODE(400, 7), // 设备未初始化 - kSMTP2_TipPopError = ERROR_CODE(400, 8), // Tip 弹出错误 - kSMTP2_PumpOverload = ERROR_CODE(400, 9), // 泵过载 - kSMTP2_TipDrop = ERROR_CODE(400, 10), // Tip 脱落 - kSMTP2_CanBusError = ERROR_CODE(400, 11), // CAN 总线故障 - kSMTP2_InvalidChecksum = ERROR_CODE(400, 12), // 无效校验和 - kSMTP2_EEPROMError = ERROR_CODE(400, 13), // EEPROM 故障 - kSMTP2_CmdBufferEmpty = ERROR_CODE(400, 14), // 命令缓冲区为空 - kSMTP2_CmdBufferOverflow = ERROR_CODE(400, 15), // 命令溢出 - kSMTP2_TipBlock = ERROR_CODE(400, 16), // Tip 堵塞 - kSMTP2_AirSuction = ERROR_CODE(400, 17), // 吸入空气 - kSMTP2_Bubble = ERROR_CODE(400, 18), // 液体中有气泡/泡沫 - kSMTP2_VolumeError = ERROR_CODE(400, 19), // 吸取/分配量不准确 - kSMTP2_TipAlreadyLoad = ERROR_CODE(400, 20), // Tip已经装载 + kSMTP2_NoError = ERROR_CODE(400, 0), // 鏃犻敊璇 + kSMTP2_InitFail = ERROR_CODE(400, 1), // 鍒濆鍖栧け璐 + kSMTP2_InvalidCmd = ERROR_CODE(400, 2), // 鏃犳晥鍛戒护 + kSMTP2_InvalidArg = ERROR_CODE(400, 3), // 鏃犳晥鍙傛暟 + kSMTP2_PressureSensorError = ERROR_CODE(400, 4), // 鍘嬪姏浼犳劅鍣ㄦ晠闅 + kSMTP2_OverPressure = ERROR_CODE(400, 5), // 瓒呰繃鍘嬪姏 + kSMTP2_LLDError = ERROR_CODE(400, 6), // LLD 閿欒 + kSMTP2_DeviceNotInit = ERROR_CODE(400, 7), // 璁惧鏈垵濮嬪寲 + kSMTP2_TipPopError = ERROR_CODE(400, 8), // Tip 寮瑰嚭閿欒 + kSMTP2_PumpOverload = ERROR_CODE(400, 9), // 娉佃繃杞 + kSMTP2_TipDrop = ERROR_CODE(400, 10), // Tip 鑴辫惤 + kSMTP2_CanBusError = ERROR_CODE(400, 11), // CAN 鎬荤嚎鏁呴殰 + kSMTP2_InvalidChecksum = ERROR_CODE(400, 12), // 鏃犳晥鏍￠獙鍜 + kSMTP2_EEPROMError = ERROR_CODE(400, 13), // EEPROM 鏁呴殰 + kSMTP2_CmdBufferEmpty = ERROR_CODE(400, 14), // 鍛戒护缂撳啿鍖轰负绌 + kSMTP2_CmdBufferOverflow = ERROR_CODE(400, 15), // 鍛戒护婧㈠嚭 + kSMTP2_TipBlock = ERROR_CODE(400, 16), // Tip 鍫靛 + kSMTP2_AirSuction = ERROR_CODE(400, 17), // 鍚稿叆绌烘皵 + kSMTP2_Bubble = ERROR_CODE(400, 18), // 娑蹭綋涓湁姘旀场/娉℃搏 + kSMTP2_VolumeError = ERROR_CODE(400, 19), // 鍚稿彇/鍒嗛厤閲忎笉鍑嗙‘ + kSMTP2_TipAlreadyLoad = ERROR_CODE(400, 20), // Tip宸茬粡瑁呰浇 kSMTP2_TipLoadFail = ERROR_CODE(400, 21), /** - * @brief 单片机硬件错误 + * @brief 鍗曠墖鏈虹‖浠堕敊璇 */ kmicro_noErr = ERROR_CODE(500, 0), // kmicro_uartSendFail = ERROR_CODE(500, 1), // @@ -107,18 +107,18 @@ typedef enum { /** * @brief step motor error */ - kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点 - kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零 - kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温 - kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压 - kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时 - kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能 - kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围 + kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 鏈壘鍒伴浂鐐 + kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 璁惧鏈綊闆 + kstep_motor_over_temperature = ERROR_CODE(600, 2), // 杩囨俯 + kstep_motor_over_voltage = ERROR_CODE(600, 3), // 杩囧帇 + kstep_motor_run_overtime = ERROR_CODE(600, 4), // 杩愯瓒呮椂 + kstep_motor_not_enable = ERROR_CODE(600, 5), // 鐢垫満鏈娇鑳 + kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO瓒呭嚭鑼冨洿 /** * @brief mini servo error */ - kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点 + kmini_servo_not_enable = ERROR_CODE(700, 0), // 鏈壘鍒伴浂鐐 } error_t; diff --git a/api/apibasic/module_type_index.hpp b/api/apibasic/module_type_index.hpp index 083b8bf..45323ff 100644 --- a/api/apibasic/module_type_index.hpp +++ b/api/apibasic/module_type_index.hpp @@ -3,18 +3,18 @@ namespace iflytop { typedef enum { - kuniversal_module = 0, // 通用模块 - khbot_module = 1, // hbot模块 - kmotor_module = 2, // 电机控制 - ktemperature_ctrl_module = 3, // 温度控制 - kfan_ctrl_module = 5, // 风扇控制 - kcode_scaner = 6, // 风扇控制 - kpipette_ctrl_module = 7, // 移液体枪控制 - ka8000_optical_module = 8, // a8000光学模组 - klaster_scaner_module = 9, // a8000光学模组 + kuniversal_module = 0, // 閫氱敤妯″潡 + khbot_module = 1, // hbot妯″潡 + kmotor_module = 2, // 鐢垫満鎺у埗 + ktemperature_ctrl_module = 3, // 娓╁害鎺у埗 + kfan_ctrl_module = 5, // 椋庢墖鎺у埗 + kcode_scaner = 6, // 椋庢墖鎺у埗 + kpipette_ctrl_module = 7, // 绉绘恫浣撴灙鎺у埗 + ka8000_optical_module = 8, // a8000鍏夊妯＄粍 + klaster_scaner_module = 9, // a8000鍏夊妯＄粍 - ktmc_step_motor = 10, // 步进电机 - kmini_servo_motor_module = 11, // 舵机 - kboard = 12, // 舵机 + ktmc_step_motor = 10, // 姝ヨ繘鐢垫満 + kmini_servo_motor_module = 11, // 鑸垫満 + kboard = 12, // 鑸垫満 } module_type_t; } \ No newline at end of file diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index 5ed4f70..e927611 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -7,22 +7,22 @@ using namespace std; #define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex) typedef enum { /******************************************************************************* - * 模块通用配置和状态 * + * 妯″潡閫氱敤閰嶇疆鍜岀姸鎬 * *******************************************************************************/ - kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本 - kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型 + kreg_module_version = REG_INDEX(0, 0, 0), // 妯″潡鐗堟湰 + kreg_module_type = REG_INDEX(0, 0, 1), // 妯″潡绫诲瀷 kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag /******************************************************************************* * SENSOR * *******************************************************************************/ - kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1 - kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2 - kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3 - kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4 + kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 娓╁害1 + kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 娓╁害2 + kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 娓╁害3 + kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 娓╁害4 /******************************************************************************* - * 机械人通用配置 * + * 鏈烘浜洪氱敤閰嶇疆 * *******************************************************************************/ /******************************************************************************* @@ -30,66 +30,66 @@ typedef enum { *******************************************************************************/ /******************************************************************************* - * PID控制器(3000->4000) * + * PID鎺у埗鍣(3000->4000) * *******************************************************************************/ - kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值 - kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出 - kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出 + kreg_pid_target = REG_INDEX(30, 0, 0), // 鐩爣鏁板 + kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 褰撳墠杈撳嚭 + kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 褰撳墠杈撳嚭 kreg_pid_kp = REG_INDEX(30, 50, 0), // kp kreg_pid_ki = REG_INDEX(30, 50, 1), // ki kreg_pid_kd = REG_INDEX(30, 50, 2), // kd - kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出 - kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出 - kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分 - kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分 - kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制 - kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔 + kreg_pid_max_output = REG_INDEX(30, 50, 3), // 鏈澶ц緭鍑 + kreg_pid_min_output = REG_INDEX(30, 50, 4), // 鏈灏忚緭鍑 + kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 鏈澶хН鍒 + kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 鏈灏忕Н鍒 + kreg_error_limit = REG_INDEX(30, 50, 7), // 璇樊闄愬埗 + kreg_compute_interval = REG_INDEX(30, 50, 8), // 璁＄畻闂撮殧 /******************************************************************************* - * 风扇控制 * + * 椋庢墖鎺у埗 * *******************************************************************************/ - kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3 - kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3 - kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3 - kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3 - kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3 - - kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3 - kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3 - kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3 - kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3 - kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3 - - kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3 - kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3 - kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3 - kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3 - kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3 - - kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3 - kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3 - kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3 - kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3 - kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3 + kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 椋庢墖杞0,1,2,3 + kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 椋庢墖杞0,1,2,3 + kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 椋庢墖杞0,1,2,3 + kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 椋庢墖杞0,1,2,3 + kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 椋庢墖杞0,1,2,3 + + kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 椋庢墖瀹炴椂杞0,1,2,3 + kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 椋庢墖瀹炴椂杞0,1,2,3 + kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 椋庢墖瀹炴椂杞0,1,2,3 + kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 椋庢墖瀹炴椂杞0,1,2,3 + kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 椋庢墖瀹炴椂杞0,1,2,3 + + kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM姘存车0,1,2,3 + kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM姘存车0,1,2,3 + kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM姘存车0,1,2,3 + kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM姘存车0,1,2,3 + kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM姘存车0,1,2,3 + + kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM姘存车0,1,2,3 + kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM姘存车0,1,2,3 + kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM姘存车0,1,2,3 + kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM姘存车0,1,2,3 + kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM姘存车0,1,2,3 /******************************************************************************* - * 移液枪状态 * + * 绉绘恫鏋姸鎬 * *******************************************************************************/ - kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置 - kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值 - kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态 - kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制 + kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 绉绘恫鏋綅缃 + kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 绉绘恫鏋數瀹瑰 + kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 绉诲姩娑叉灙tip鐘舵 + kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 绉绘恫鏋猽l闄愬埗 /******************************************************************************* * smartADC * *******************************************************************************/ - kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率 - kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数 - kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率 - kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数 + kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 鍙戝皠鍔熺巼 + kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 鎺ユ敹绠℃斁澶у嶆暟 + kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 閲囨牱鐜 + kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 閲囨牱鐐规暟 // scan action - kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学 + kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t鍏夊锛1 f鍏夊 kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), @@ -106,7 +106,7 @@ typedef enum { kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14), // - kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学 + kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t鍏夊锛1 f鍏夊 kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), @@ -135,55 +135,55 @@ typedef enum { kreg_xyrobot_irun = REG_INDEX(100, 0, 9), kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10), - kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy - kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移 - kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移 - kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转 - kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转 - kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数 - kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数 - kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离 - kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离 - kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离 - kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离 - kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态 - kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态 + kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 鏈哄櫒浜虹被鍨 0:hbot 1:corexy + kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x鍋忕Щ + kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y鍋忕Щ + kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x杞存槸鍚﹀弽杞 + kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y杞存槸鍚﹀弽杞 + kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x杞翠竴鍦堣剦鍐叉暟 + kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y杞翠竴鍦堣剦鍐叉暟 + kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x杞村洖闆舵渶澶ц窛绂 + kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y杞村洖闆舵渶澶ц窛绂 + kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x杞存壘闆惰竟缂樻渶澶ц窛绂 + kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y杞存壘闆惰竟缂樻渶澶ц窛绂 + kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO鐘舵 + kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO鐘舵 /*********************************************************************************************************************** * step_motor * ***********************************************************************************************************************/ - kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标 - kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移 - - kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移 - kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转 - kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数 - kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母 - kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度 - kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度 - kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度 - kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度 - kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置 - kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置 - kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置 - kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置 - kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离 - kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离 - kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度 - kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度 - kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度 - kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度 - kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离 - kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离 + kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 鏈哄櫒浜簒鍧愭爣 + kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 鎵ц瀹屼笂涓鏉℃寚浠ゅ悗鐨勭浉瀵逛綅绉 + + kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x鍋忕Щ + kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x杞存槸鍚﹀弽杞 + kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x杞翠竴鍦堣剦鍐叉暟 + kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 璁剧疆涓鍦堣剦鍐叉暟鐨勫垎姣 + kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 榛樿閫熷害 + kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 榛樿鍔犻熷害 + kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 榛樿鍑忛熷害 + kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 榛樿鍑忛熷害 + kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 姝ヨ繘鐢垫満鐢垫祦閰嶇疆 + kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 姝ヨ繘鐢垫満鐢垫祦閰嶇疆 + kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 姝ヨ繘鐢垫満鐢垫祦閰嶇疆 + kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 姝ヨ繘鐢垫満鐢垫祦閰嶇疆 + kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x杞村洖闆舵渶澶ц窛绂 + kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x杞存壘闆惰竟缂樻渶澶ц窛绂 + kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 鍥為浂閫熷害 + kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 鍥為浂鍑忛熷害 + kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 鎵鹃浂杈圭紭閫熷害 + kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 鎵鹃浂杈圭紭鍑忛熷害 + kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 鏈澶ч檺鍒惰窛绂 + kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 鏈灏忛檺鍒惰窛绂 /*********************************************************************************************************************** * MINI_STEP_MOTOR * ***********************************************************************************************************************/ - kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置 - kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度 - kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩 - kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩 + kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 浣嶇疆 + kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 闄愬埗閫熷害 + kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 闄愬埗鎵煩 + kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 淇濇姢鎵煩 /*********************************************************************************************************************** * BOARD *