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60 lines
3.3 KiB
60 lines
3.3 KiB
#pragma once
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#include <stdint.h>
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#if 0
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namespace iflytop {
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using namespace std;
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#define CONFIG_CODE(type, subconfigindex) (type + subconfigindex)
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typedef enum {
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/*******************************************************************************
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* 电机相关配置和状态 *
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*******************************************************************************/
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kcfg_motor_x_shift = CONFIG_CODE(100, 0), // x偏移
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kcfg_motor_y_shift = CONFIG_CODE(100, 1), // y偏移
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kcfg_motor_z_shift = CONFIG_CODE(100, 2), // z偏移
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kcfg_motor_x_shaft = CONFIG_CODE(100, 3), // x轴是否反转
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kcfg_motor_y_shaft = CONFIG_CODE(100, 4), // y轴是否反转
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kcfg_motor_z_shaft = CONFIG_CODE(100, 5), // z轴是否反转
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kcfg_motor_x_one_circle_pulse = CONFIG_CODE(100, 6), // x轴一圈脉冲数
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kcfg_motor_y_one_circle_pulse = CONFIG_CODE(100, 7), // y轴一圈脉冲数
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kcfg_motor_z_one_circle_pulse = CONFIG_CODE(100, 8), // z轴一圈脉冲数
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kcfg_motor_default_velocity = CONFIG_CODE(100, 9), // 默认速度
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kcfg_motor_default_acc = CONFIG_CODE(100, 10), // 默认加速度
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kcfg_motor_default_dec = CONFIG_CODE(100, 11), // 默认减速度
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kcfg_motor_default_break_dec = CONFIG_CODE(100, 12), // 默认减速度
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/*******************************************************************************
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* 电机找零相关配置 *
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*******************************************************************************/
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kcfg_motor_run_to_zero_max_x_d = CONFIG_CODE(150, 0), // x轴回零最大距离
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kcfg_motor_run_to_zero_max_y_d = CONFIG_CODE(150, 1), // y轴回零最大距离
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kcfg_motor_run_to_zero_max_z_d = CONFIG_CODE(150, 2), // z轴回零最大距离
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kcfg_motor_look_zero_edge_max_x_d = CONFIG_CODE(150, 3), // x轴找零边缘最大距离
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kcfg_motor_look_zero_edge_max_y_d = CONFIG_CODE(150, 4), // y轴找零边缘最大距离
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kcfg_motor_look_zero_edge_max_z_d = CONFIG_CODE(150, 5), // z轴找零边缘最大距离
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kcfg_motor_run_to_zero_speed = CONFIG_CODE(150, 6), // 回零速度
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kcfg_motor_run_to_zero_dec = CONFIG_CODE(150, 7), // 回零减速度
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kcfg_motor_look_zero_edge_speed = CONFIG_CODE(150, 8), // 找零边缘速度
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kcfg_motor_look_zero_edge_dec = CONFIG_CODE(150, 9), // 找零边缘减速度
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/*******************************************************************************
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* 步进电机相关配置 *
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*******************************************************************************/
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k_cfg_stepmotor_ihold = CONFIG_CODE(200, 0),
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k_cfg_stepmotor_irun = CONFIG_CODE(200, 1),
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k_cfg_stepmotor_iholddelay = CONFIG_CODE(200, 2),
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/*******************************************************************************
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* XY_ROBOT_CONFIG *
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*******************************************************************************/
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k_cfg_xyrobot_robot_type = CONFIG_CODE(300, 0), // 机器人类型 0:hbot 1:corexy
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} config_index_t;
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} // namespace iflytop
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#endif
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/**
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* @brief
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*
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* 模块通用配置和状态 0->1000
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* Robot/Motor通用配置和状态 1000->2000
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* Sensor通用配置和状态 2000->3000
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* PID通用配置和状态 4000->4100
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*/
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