project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
64f89e7ea3
commit
ccd9358282
3 changed files with 91 additions and 21 deletions
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  1. 2
      sdk
  2. 69
      usrc/subboards/subboard10_hbot_v2/pri_board.h
  3. 41
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp

2
sdk

@ -1 +1 @@
Subproject commit 4fa0ad7174d45b7a0c0aa6972309f5f1f6d0caa3
Subproject commit ac5dbdd30601037dfff6b4702a9a50297493a382

69
usrc/subboards/subboard10_hbot_v2/pri_board.h
View File

@ -29,11 +29,78 @@
/***********************************************************************************************************************
* 电机1 *
***********************************************************************************************************************/
#if 0
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR2_CSN PC4
#define MOTOR2_ENN PE13
#else
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PinNull
#define MOTOR1_REFL_MIRROR true
#define MOTOR1_REFR_MIRROR true
#define MOTOR1_MOTOR_SHAFT false
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 1000
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR1_STEPMOTOR_IHOLD 1
#define MOTOR1_STEPMOTOR_IRUN 30
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 128
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 100
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART
#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1
#define MOTOR1_MOTOR_AMAX 300
#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1
#define MOTOR1_MOTOR_DMAX 300
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 1000
#define MOTOR1_ENABLE_ENC_RESOLUTION 1
/***********************************************************************************************************************
* 电机2 *
***********************************************************************************************************************/
#define MOTOR2_CSN PC4
#define MOTOR2_ENN PE13
#define MOTOR2_REFL PinNull
#define MOTOR2_REFR PinNull
#define MOTOR2_REFL_MIRROR true
#define MOTOR2_REFR_MIRROR true
#define MOTOR2_MOTOR_SHAFT false
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 1000
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 1
#define MOTOR2_STEPMOTOR_IRUN 30
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 128
#define MOTOR2_MOTOR_DEFAULT_VELOCITY 100
#define MOTOR2_MIN_D 0
#define MOTOR2_MAX_D 0
#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 400
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART
#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1
#define MOTOR2_MOTOR_AMAX 300
#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1
#define MOTOR2_MOTOR_DMAX 300
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 1000
#define MOTOR2_ENABLE_ENC_RESOLUTION 1
#endif

41
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
View File

@ -77,13 +77,11 @@ void Subboard10HbotV2::initialize() {
ZLOGI(TAG, "motorb initialize TMC51X0:%x", motora.readICVersion());
}
/*******************************************************************************
* zcanXYRobotCtrlModule *
*******************************************************************************/
static ZGPIO input[4];
input[0].initAsInput(EXT_INPUT_IO0);
input[1].initAsInput(EXT_INPUT_IO1);
input[2].initAsInput(EXT_INPUT_IO2);
@ -92,33 +90,38 @@ void Subboard10HbotV2::initialize() {
static XYRobotCtrlModule::config_t xy_defaultcfg;
XYRobotCtrlModule::create_default_cfg(xy_defaultcfg);
#define LEVEL1_A 15
#define LEVEL2_A 40
#define START_AND_STOP_V 30
#define V1 200
xy_defaultcfg.robot_type = XYRobotCtrlModule::khbot;
xy_defaultcfg.one_circle_pulse = 7344;
xy_defaultcfg.one_circle_pulse_denominator = 1;
xy_defaultcfg.ihold = 1;
xy_defaultcfg.ihold = 10;
xy_defaultcfg.irun = 31;
xy_defaultcfg.iholddelay = 100;
xy_defaultcfg.iglobalscaler = 32;
xy_defaultcfg.vstart = TMC5130_DEFAULT__MOTOR_VSTART;
xy_defaultcfg.a1 = TMC5130_DEFAULT__MOTOR_A1;
xy_defaultcfg.amax = TMC5130_DEFAULT__MOTOR_AMAX;
xy_defaultcfg.v1 = TMC5130_DEFAULT__MOTOR_V1;
xy_defaultcfg.dmax = TMC5130_DEFAULT__MOTOR_DMAX;
xy_defaultcfg.d1 = TMC5130_DEFAULT__MOTOR_D1;
xy_defaultcfg.vstop = TMC5130_DEFAULT__MOTOR_VSTOP;
xy_defaultcfg.tzerowait = TMC5130_DEFAULT__MOTOR_TZEROWAIT;
xy_defaultcfg.iglobalscaler = 128;
xy_defaultcfg.vstart = START_AND_STOP_V;
xy_defaultcfg.a1 = LEVEL1_A;
xy_defaultcfg.amax = LEVEL2_A;
xy_defaultcfg.v1 = V1;
xy_defaultcfg.dmax = LEVEL2_A;
xy_defaultcfg.d1 = LEVEL1_A;
xy_defaultcfg.vstop = START_AND_STOP_V;
xy_defaultcfg.tzerowait = 10;
xy_defaultcfg.enc_resolution = 1000;
xy_defaultcfg.enable_enc = 1;
xy_defaultcfg.x_shaft = 0;
xy_defaultcfg.x_shaft = 1;
xy_defaultcfg.y_shaft = 1;
xy_defaultcfg.default_velocity = 300;
xy_defaultcfg.default_velocity = 800;
xy_defaultcfg.shift_x = 0;
xy_defaultcfg.shift_y = 0;
xy_defaultcfg.min_x = 0;
xy_defaultcfg.min_y = 0;
xy_defaultcfg.max_x = 0;
xy_defaultcfg.max_y = 0;
xy_defaultcfg.run_to_zero_speed = 40;
xy_defaultcfg.min_x = -20;
xy_defaultcfg.min_y = -20;
xy_defaultcfg.max_x = 55150;
xy_defaultcfg.max_y = 41500;
xy_defaultcfg.run_to_zero_speed = 80;
xy_defaultcfg.look_zero_edge_speed = 10;
xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg);

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