From 82572030cd4c25ad9dc03217856bac67370b1a5e Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 26 Jun 2024 15:16:02 +0800 Subject: [PATCH] update --- api/apibasic/reg_index.cpp | 45 +++++++++++++++++++++---------------- api/apibasic/reg_index.hpp | 56 +++++++++++++++++++++++++--------------------- 2 files changed, 57 insertions(+), 44 deletions(-) diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp index fb6f26d..8df991f 100644 --- a/api/apibasic/reg_index.cpp +++ b/api/apibasic/reg_index.cpp @@ -84,30 +84,37 @@ static reginfo_t table[] = { REG_ITERM(kreg_laster_scaner_scan_gain_adjust_suggestion), REG_ITERM(kreg_laster_scaner_adc_result_overflow), REG_ITERM(kreg_laster_scaner_laster_intensity), - REG_ITERM(kreg_xyrobot_default_velocity), - REG_ITERM(kreg_xyrobot_default_acc), - REG_ITERM(kreg_xyrobot_default_dec), - REG_ITERM(kreg_xyrobot_default_break_dec), - REG_ITERM(kreg_xyrobot_run_to_zero_speed), - REG_ITERM(kreg_xyrobot_run_to_zero_dec), - REG_ITERM(kreg_xyrobot_look_zero_edge_speed), - REG_ITERM(kreg_xyrobot_look_zero_edge_dec), + + REG_ITERM(kreg_xyrobot_io_state), + REG_ITERM(kreg_xyrobot_robot_type), + REG_ITERM(kreg_xyrobot_one_circle_pulse), + REG_ITERM(kreg_xyrobot_one_circle_pulse_denominator), REG_ITERM(kreg_xyrobot_ihold), REG_ITERM(kreg_xyrobot_irun), REG_ITERM(kreg_xyrobot_iholddelay), - REG_ITERM(kreg_xyrobot_robot_type), - REG_ITERM(kreg_xyrobot_x_shift), - REG_ITERM(kreg_xyrobot_y_shift), + REG_ITERM(kreg_xyrobot_iglobalscaler), + REG_ITERM(kreg_xyrobot_vstart), + REG_ITERM(kreg_xyrobot_a1), + REG_ITERM(kreg_xyrobot_amax), + REG_ITERM(kreg_xyrobot_v1), + REG_ITERM(kreg_xyrobot_dmax), + REG_ITERM(kreg_xyrobot_d1), + REG_ITERM(kreg_xyrobot_vstop), + REG_ITERM(kreg_xyrobot_tzerowait), + REG_ITERM(kreg_xyrobot_enc_resolution), + REG_ITERM(kreg_xyrobot_enable_enc), REG_ITERM(kreg_xyrobot_x_shaft), REG_ITERM(kreg_xyrobot_y_shaft), - REG_ITERM(kreg_xyrobot_x_one_circle_pulse), - REG_ITERM(kreg_xyrobot_y_one_circle_pulse), - REG_ITERM(kreg_xyrobot_run_to_zero_max_x_d), - REG_ITERM(kreg_xyrobot_run_to_zero_max_y_d), - REG_ITERM(kreg_xyrobot_look_zero_edge_max_x_d), - REG_ITERM(kreg_xyrobot_look_zero_edge_max_y_d), - REG_ITERM(kreg_xyrobot_io_state0), - REG_ITERM(kreg_xyrobot_io_state1), + REG_ITERM(kreg_xyrobot_min_x), + REG_ITERM(kreg_xyrobot_min_y), + REG_ITERM(kreg_xyrobot_max_x), + REG_ITERM(kreg_xyrobot_max_y), + REG_ITERM(kreg_xyrobot_run_to_zero_speed), + REG_ITERM(kreg_xyrobot_look_zero_edge_speed), + REG_ITERM(kreg_xyrobot_shift_x), + REG_ITERM(kreg_xyrobot_shift_y), + REG_ITERM(kreg_xyrobot_default_velocity), + REG_ITERM(kreg_step_motor_pos), REG_ITERM(kreg_step_motor_dpos), REG_ITERM(kreg_step_motor_enc_val), diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index 0df7c7f..6c84178 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -109,31 +109,37 @@ typedef enum { * XYROBOT * ***********************************************************************************************************************/ - kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), - kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1), - kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2), - kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3), - kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4), - kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5), - kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6), - kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7), - kreg_xyrobot_ihold = REG_INDEX(100, 0, 8), - 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_io_state = REG_INDEX(99, 0, 0), // IO状态 + + kreg_xyrobot_robot_type = REG_INDEX(99, 50, 0), // 机器人类型 0:hbot 1:corexy + kreg_xyrobot_one_circle_pulse = REG_INDEX(99, 50, 1), + kreg_xyrobot_one_circle_pulse_denominator = REG_INDEX(99, 50, 2), + kreg_xyrobot_ihold = REG_INDEX(99, 50, 4), + kreg_xyrobot_irun = REG_INDEX(99, 50, 5), + kreg_xyrobot_iholddelay = REG_INDEX(99, 50, 6), + kreg_xyrobot_iglobalscaler = REG_INDEX(99, 50, 7), + kreg_xyrobot_vstart = REG_INDEX(99, 50, 8), + kreg_xyrobot_a1 = REG_INDEX(99, 50, 9), + kreg_xyrobot_amax = REG_INDEX(99, 50, 10), + kreg_xyrobot_v1 = REG_INDEX(99, 50, 11), + kreg_xyrobot_dmax = REG_INDEX(99, 50, 12), + kreg_xyrobot_d1 = REG_INDEX(99, 50, 13), + kreg_xyrobot_vstop = REG_INDEX(99, 50, 14), + kreg_xyrobot_tzerowait = REG_INDEX(99, 50, 15), + kreg_xyrobot_enc_resolution = REG_INDEX(99, 50, 16), + kreg_xyrobot_enable_enc = REG_INDEX(99, 50, 17), + kreg_xyrobot_x_shaft = REG_INDEX(99, 50, 18), // x轴是否反转 + kreg_xyrobot_y_shaft = REG_INDEX(99, 50, 19), // y轴是否反转 + kreg_xyrobot_min_x = REG_INDEX(99, 50, 22), + kreg_xyrobot_min_y = REG_INDEX(99, 50, 23), + kreg_xyrobot_max_x = REG_INDEX(99, 50, 24), + kreg_xyrobot_max_y = REG_INDEX(99, 50, 25), + kreg_xyrobot_run_to_zero_speed = REG_INDEX(99, 50, 26), + kreg_xyrobot_look_zero_edge_speed = REG_INDEX(99, 50, 27), + kreg_xyrobot_shift_x = REG_INDEX(99, 50, 28), + kreg_xyrobot_shift_y = REG_INDEX(99, 50, 29), + + kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), /*********************************************************************************************************************** * step_motor *