驱动模块支持查看编码器数值

a8000_protocol

@@ -1 +1 @@
-Subproject commit 86281b73f485c01783197227b58d0a19699c7198
+Subproject commit 74042ce3f342868ca2bfdb51a09fddd68ab396c1

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -138,6 +138,12 @@ int32_t StepMotorCtrlModule::step_motor_enable(int32_t enable) {
   return 0;
 }
 int32_t StepMotorCtrlModule::step_motor_read_pos(int32_t* pos) { return getnowpos(*pos); }
+
+int32_t StepMotorCtrlModule::step_motor_read_enc_pos(int32_t* pos) {
+  *pos = m_stepM1->read_enc_val();
+  return 0;
+}
+
 int32_t StepMotorCtrlModule::step_motor_stop(int32_t breakstop) {
   ZLOGI(TAG, "m%d motor_stop %d", m_id, breakstop);
   m_thread.stop();
@@ -637,8 +643,6 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
   return 0;
 }
 
-
-
 int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
   m_thread.stop();
   creg.module_status = 1;

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -84,6 +84,8 @@ class StepMotorCtrlModule : public ZIModule {
 
   virtual int32_t step_motor_enable(int32_t enable) ;
   virtual int32_t step_motor_read_pos(int32_t* pos) ;
+  virtual int32_t step_motor_read_enc_pos(int32_t* pos) ;
+  
   virtual int32_t step_motor_stop(int32_t breakstop) ;
   virtual int32_t step_motor_easy_rotate(int32_t direction) ;
   virtual int32_t step_motor_easy_move_by(int32_t distance) ;

sdk/components/zcancmder/zcan_protocol_parser.cpp

@@ -48,6 +48,7 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
 
   REGFN(step_motor_enable);
   REGFN(step_motor_read_pos);
+  REGFN(step_motor_read_enc_pos);
   REGFN(step_motor_easy_rotate);
   REGFN(step_motor_easy_move_by);
   REGFN(step_motor_easy_move_to);
@@ -336,6 +337,14 @@ int32_t ZCanProtocolParser::step_motor_read_pos(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->step_motor_read_pos(&ack[0]);
 }
+
+int32_t ZCanProtocolParser::step_motor_read_enc_pos(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->step_motor_read_enc_pos(&ack[0]);
+}
+
 int32_t ZCanProtocolParser::step_motor_easy_rotate(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->step_motor_easy_rotate(cxt->params[0]);

sdk/components/zcancmder/zcan_protocol_parser.hpp

@@ -64,6 +64,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(step_motor_enable);
   CMDFN(step_motor_stop);
   CMDFN(step_motor_read_pos);
+  CMDFN(step_motor_read_enc_pos);
   CMDFN(step_motor_easy_rotate);
   CMDFN(step_motor_easy_move_by);
   CMDFN(step_motor_easy_move_to);

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           1000
+#define PC_VERSION           1001
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -44,7 +44,7 @@
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             1200
 #define MOTOR1_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR1_MAX_D                              TMC5130_DEFAULT__MAX_D
-#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            1000
+#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            400
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         100
 #define MOTOR1_MOTOR_VSTART                       TMC5130_DEFAULT__MOTOR_VSTART
 #define MOTOR1_MOTOR_A1                           TMC5130_DEFAULT__MOTOR_A1