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a8000_subboard
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飞特舵机支持设置任意位置

master
zhaohe 1 year ago
parent
fbe4e8d7c6
commit
d08cf7c787
10 changed files with 233 additions and 25 deletions
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  1. 2
      a8000_protocol
  2. 184
      sdk/components/mini_servo_motor/feite_servo_motor.cpp
  3. 15
      sdk/components/mini_servo_motor/feite_servo_motor.hpp
  4. 28
      sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  5. 4
      sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  6. 3
      sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  7. 5
      sdk/components/zcancmder/zcan_protocol_parser.cpp
  8. 3
      sdk/components/zcancmder/zcan_protocol_parser.hpp
  9. 8
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
  10. 6
      usrc/subboards/subboard90_optical_module/pri_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 36523bea3565257b6033f75fd1adb343602532e9
Subproject commit ad55d4474d5fe39585c788d2f5d73832cf782e94

184
sdk/components/mini_servo_motor/feite_servo_motor.cpp
View File

@ -102,10 +102,11 @@ static void reginfo_init() {
/*86*/ REG_INFO_INIT(kRegServoAccMultiple /* */, 1, UNSIGN, 0); // 86 加速度倍数 /*86*/ REG_INFO_INIT(kRegServoAccMultiple /* */, 1, UNSIGN, 0); // 86 加速度倍数
} }
void FeiTeServoMotor::regServo(uint8_t id, feite_servo_model_number_t model_type) {
void FeiTeServoMotor::regServo(uint8_t id, feite_servo_model_number_t model_type, bool shaft) {
feite_servo_info_t info; feite_servo_info_t info;
info.id = id; info.id = id;
info.model_type = model_type; info.model_type = model_type;
info.shaft = shaft;
if (info.model_type == ksts5420m_c001) { if (info.model_type == ksts5420m_c001) {
info.support_mode0 = true; info.support_mode0 = true;
info.support_mode1 = true; info.support_mode1 = true;
@ -116,8 +117,8 @@ void FeiTeServoMotor::regServo(uint8_t id, feite_servo_model_number_t model_type
info.regDefaultVal_servoMinAngle = 1; info.regDefaultVal_servoMinAngle = 1;
info.regDefaultVal_servoMaxAngle = 4094; info.regDefaultVal_servoMaxAngle = 4094;
info.angleConverCoefficient = 360 / 4096.0;
info.range = 4096;
info.angleConverCoefficient = 360 / 4096.0;
} else if (info.model_type == kscs009) { } else if (info.model_type == kscs009) {
info.support_mode0 = true; info.support_mode0 = true;
info.support_mode1 = false; info.support_mode1 = false;
@ -127,6 +128,7 @@ void FeiTeServoMotor::regServo(uint8_t id, feite_servo_model_number_t model_type
info.isSCS = true; info.isSCS = true;
info.regDefaultVal_servoMinAngle = 20; info.regDefaultVal_servoMinAngle = 20;
info.regDefaultVal_servoMaxAngle = 1003; info.regDefaultVal_servoMaxAngle = 1003;
info.range = 1024;
info.angleConverCoefficient = 300 / 1024.0; info.angleConverCoefficient = 300 / 1024.0;
} }
regServoInfo(&info); regServoInfo(&info);
@ -187,6 +189,12 @@ bool FeiTeServoMotor::runInMode0(uint8_t id, int32_t limitTorque, int32_t speed,
} }
if (info->isSCS) { if (info->isSCS) {
if (info->shaft) {
pos3600 = 3600 - pos3600;
}
if (pos3600 < 0) {
pos3600 = 0;
}
if (limitTorque <= 0) limitTorque = 0; if (limitTorque <= 0) limitTorque = 0;
if (limitTorque > 1000) limitTorque = 1000; if (limitTorque > 1000) limitTorque = 1000;
@ -207,6 +215,12 @@ bool FeiTeServoMotor::runInMode0(uint8_t id, int32_t limitTorque, int32_t speed,
return true; return true;
} else { } else {
if (info->shaft) {
pos3600 = 3600 - pos3600;
}
if (pos3600 < 0) {
pos3600 = 0;
}
if (limitTorque <= 0) limitTorque = 0; if (limitTorque <= 0) limitTorque = 0;
if (limitTorque > 1000) limitTorque = 1000; if (limitTorque > 1000) limitTorque = 1000;
@ -233,6 +247,75 @@ bool FeiTeServoMotor::runInMode0(uint8_t id, int32_t limitTorque, int32_t speed,
} }
} }
bool FeiTeServoMotor::setInMode0(uint8_t id) {
zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id);
if (!info) {
ZLOGE(TAG, "runInMode0 id:%d not find", id);
return false;
}
if (info->isSCS) {
// 由于SCS型号的舵机如果当前工作在模式2下，
// 则 kRegServoRunTime 控制运行方向和扭矩，这里需要将其修改为0，让其停下来
stop(id);
DO(write_reg(id, kRegServoMinAngle, info->regDefaultVal_servoMinAngle));
DO(write_reg(id, kRegServoMaxAngle, info->regDefaultVal_servoMaxAngle));
return true;
} else {
int32_t val = 0;
int32_t nowmode = 0;
DO(read_reg(id, kRegServoRunMode, &nowmode));
if (nowmode != 0) {
DO(write_reg(id, kRegServoRunMode, (uint8_t)0));
}
DO(write_reg(id, kRegServoTorqueSwitch, 1));
return true;
}
}
bool FeiTeServoMotor::setInMode1(uint8_t id) {
zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id);
if (!info) {
ZLOGE(TAG, "runInMode0 id:%d not find", id);
return false;
}
if (!info->support_mode1) {
ZLOGE(TAG, "runInMode1 id:%d not support", id);
return false;
}
if (info->isSCS) {
ZLOGE(TAG, "runInMode1 id:%d not support", id);
return false;
} else {
stop(id);
int32_t nowmode = 0;
DO(read_reg(id, kRegServoRunMode, &nowmode));
if (nowmode != 1) {
DO(write_reg(id, kRegServoRunMode, (uint8_t)1));
}
return true;
}
return false;
}
bool FeiTeServoMotor::setInMode2(uint8_t id) {
zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id);
if (!info) {
ZLOGE(TAG, "runInMode0 id:%d not find", id);
return false;
}
if (!info->support_mode2) {
ZLOGE(TAG, "runInMode2 id:%d not support", id);
return false;
}
return setInMode0(id);
}
bool FeiTeServoMotor::isSupportMode0(uint8_t id) { bool FeiTeServoMotor::isSupportMode0(uint8_t id) {
zlock_guard l(m_mutex); zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id); feite_servo_info_t* info = getServoInfo(id);
@ -268,6 +351,10 @@ bool FeiTeServoMotor::runInMode1(uint8_t id, int32_t limitTorque, int32_t speed)
ZLOGE(TAG, "runInMode1 id:%d not support", id); ZLOGE(TAG, "runInMode1 id:%d not support", id);
return false; return false;
} else { } else {
if (info->shaft) {
speed = -speed;
}
if (limitTorque <= 0) limitTorque = 0; if (limitTorque <= 0) limitTorque = 0;
if (limitTorque > 1000) limitTorque = 1000; if (limitTorque > 1000) limitTorque = 1000;
stop(id); stop(id);
@ -282,6 +369,82 @@ bool FeiTeServoMotor::runInMode1(uint8_t id, int32_t limitTorque, int32_t speed)
} }
return false; return false;
} }
static int16_t getcalibrate(int16_t nowpos, int16_t aftercalibratepos) {
int16_t calibrate = nowpos - aftercalibratepos;
while (true) {
if (calibrate > 2047) {
calibrate -= 4094;
} else if (calibrate < -2047) {
calibrate += 4094;
} else {
break;
}
}
return calibrate;
}
bool FeiTeServoMotor::setCurPos(uint8_t id, int32_t pos3600) {
zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id);
if (!info) {
ZLOGE(TAG, "runInMode0 id:%d not find", id);
return false;
}
if (info->isSCS) {
ZLOGE(TAG, "runInMode1 id:%d not support", id);
return false;
} else {
if (info->range != 4096) {
return false;
}
if (info->shaft) {
pos3600 = 3600 - pos3600;
}
int32_t motor_pos = pos3600 / 10.0 / info->angleConverCoefficient;
return setCurPos4096(id, motor_pos);
}
}
bool FeiTeServoMotor::isSupportSetCurPos(uint8_t id) {
zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id);
if (!info) {
ZLOGE(TAG, "runInMode0 id:%d not find", id);
return false;
}
if (info->isSCS) {
ZLOGE(TAG, "runInMode1 id:%d not support", id);
return false;
} else {
if (info->range != 4096) {
return false;
}
return true;
}
}
bool FeiTeServoMotor::setCurPos4096(uint8_t id, int32_t targetpos4095) {
DO(setInMode0(id));
int32_t nowpos = 0;
int32_t nowposcalibration = 0;
DO(write_reg(id, feite::reg_add_e::kRegServoTorqueSwitch, 0));
DO(write_reg(id, kRegServoCalibration, 0));
DO(read_reg(id, kRegServoCurrentPos, &nowpos));
int16_t newcalibrate = getcalibrate(nowpos, targetpos4095);
DO(write_reg(id, kRegServoLockFlag, 0));
DO(write_reg(id, kRegServoCalibration, newcalibrate));
DO(write_reg(id, kRegServoLockFlag, 1));
DO(write_reg(id, kRegServoTargetPos, targetpos4095));
DO(write_reg(id, feite::reg_add_e::kRegServoTorqueSwitch, 1));
return true;
}
bool FeiTeServoMotor::runInMode2(uint8_t id, int32_t torque) { bool FeiTeServoMotor::runInMode2(uint8_t id, int32_t torque) {
zlock_guard l(m_mutex); zlock_guard l(m_mutex);
feite_servo_info_t* info = getServoInfo(id); feite_servo_info_t* info = getServoInfo(id);
@ -296,6 +459,10 @@ bool FeiTeServoMotor::runInMode2(uint8_t id, int32_t torque) {
} }
if (info->isSCS) { if (info->isSCS) {
if (info->shaft) {
torque = -torque;
}
stop(id); stop(id);
DO(write_reg(id, kRegServoMinAngle, 0)); DO(write_reg(id, kRegServoMinAngle, 0));
DO(write_reg(id, kRegServoMaxAngle, 0)); DO(write_reg(id, kRegServoMaxAngle, 0));
@ -352,6 +519,17 @@ bool FeiTeServoMotor::getPos(uint8_t id, int32_t* pos) {
// ZLOGI(TAG, "getPos id:%d pos:%d", id, *pos); // ZLOGI(TAG, "getPos id:%d pos:%d", id, *pos);
*pos = (*pos) * info->angleConverCoefficient * 10 + 0.5; *pos = (*pos) * info->angleConverCoefficient * 10 + 0.5;
if (info->shaft) {
*pos = 3600 - *pos;
}
if (*pos < 0) {
*pos = 0;
}
if (*pos > 3600) {
*pos = 3600;
}
return true; return true;
} }
bool FeiTeServoMotor::isMove(uint8_t id, int32_t* move) { bool FeiTeServoMotor::isMove(uint8_t id, int32_t* move) {

15
sdk/components/mini_servo_motor/feite_servo_motor.hpp
View File

@ -34,6 +34,8 @@ typedef struct {
bool isSCS; bool isSCS;
bool shaft;
bool bigend; bool bigend;
bool support_mode0; // 角度伺服模式 bool support_mode0; // 角度伺服模式
bool support_mode1; // 速度闭环模式 bool support_mode1; // 速度闭环模式
@ -43,6 +45,8 @@ typedef struct {
int16_t regDefaultVal_servoMinAngle; int16_t regDefaultVal_servoMinAngle;
int16_t regDefaultVal_servoMaxAngle; int16_t regDefaultVal_servoMaxAngle;
int16_t range;
float angleConverCoefficient; float angleConverCoefficient;
} feite_servo_info_t; } feite_servo_info_t;
@ -163,11 +167,16 @@ class FeiTeServoMotor {
public: public:
void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx); void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx);
void regServo(uint8_t id, feite_servo_model_number_t model_type);
void regServo(uint8_t id, feite_servo_model_number_t model_type, bool shaft);
feite_servo_info_t* getServoInfo(int id); feite_servo_info_t* getServoInfo(int id);
bool ping(uint8_t id); bool ping(uint8_t id);
bool stop(uint8_t id); bool stop(uint8_t id);
bool setInMode0(uint8_t id);
bool setInMode1(uint8_t id);
bool setInMode2(uint8_t id);
/** /**
* @brief * @brief
* *
@ -189,6 +198,10 @@ class FeiTeServoMotor {
bool getPos(uint8_t id, int32_t* pos); bool getPos(uint8_t id, int32_t* pos);
bool isMove(uint8_t id, int32_t* move); bool isMove(uint8_t id, int32_t* move);
bool setCurPos(uint8_t id, int32_t pos);
bool isSupportSetCurPos(uint8_t id);
bool setCurPos4096(uint8_t id, int32_t pos);
public: public:
bool write_reg(uint8_t id, int regadd, int32_t regval); bool write_reg(uint8_t id, int regadd, int32_t regval);
bool read_reg(uint8_t id, int regadd, int32_t* regval); bool read_reg(uint8_t id, int regadd, int32_t* regval);

28
sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
View File

@ -3,15 +3,6 @@ using namespace iflytop;
using namespace std; using namespace std;
#define TAG "MiniServo" #define TAG "MiniServo"
static int32_t limit_input(int32_t input, int32_t min, int32_t max) {
int32_t ret = 0;
if (input > max) input = max;
if (input < min) input = min;
ret = input;
return ret;
}
static bool poseq(int32_t a, int32_t b, int32_t err) { return abs(a - b) < err; } static bool poseq(int32_t a, int32_t b, int32_t err) { return abs(a - b) < err; }
void MiniServoCtrlModule::initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus, config_t *cfg) { void MiniServoCtrlModule::initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus, config_t *cfg) {
@ -22,6 +13,7 @@ void MiniServoCtrlModule::initialize(uint16_t module_id, FeiTeServoMotor *bus, u
m_cfg = *cfg; m_cfg = *cfg;
m_thread.init("MiniRobotCtrlModule", 1024, osPriorityNormal); m_thread.init("MiniRobotCtrlModule", 1024, osPriorityNormal);
m_bus->setInMode0(idinbus); // 设置成模式0，这样能保证回读的位置是正确的。
mini_servo_enable(1); mini_servo_enable(1);
} }
void MiniServoCtrlModule::create_default_config(config_t &cfg) { void MiniServoCtrlModule::create_default_config(config_t &cfg) {
@ -94,6 +86,14 @@ int32_t MiniServoCtrlModule::mini_servo_rotate(int32_t speed) {
int32_t MiniServoCtrlModule::mini_servo_move_to(int32_t pos3600) { int32_t MiniServoCtrlModule::mini_servo_move_to(int32_t pos3600) {
ZLOGI(TAG, "%d mini_servo_move_to %d", m_module_id, pos3600); ZLOGI(TAG, "%d mini_servo_move_to %d", m_module_id, pos3600);
// if (pos3600 > 3600 || pos3600 < 0) {
// return err::kparam_out_of_range;
// }
// if (m_cfg.shaft != 0) {
// pos3600 = 3600 - pos3600;
// }
m_thread.stop(); m_thread.stop();
if (!m_bus->ping(m_idinbus)) return err::ksubdevice_overtime; if (!m_bus->ping(m_idinbus)) return err::ksubdevice_overtime;
if (!m_state.enable) return err::kmini_servo_not_enable; if (!m_state.enable) return err::kmini_servo_not_enable;
@ -185,6 +185,16 @@ int32_t MiniServoCtrlModule::mini_servo_read_io_state(int32_t ioindex, int32_t *
return 0; return 0;
} }
int32_t MiniServoCtrlModule::mini_servo_set_cur_pos(int32_t pos) {
ZLOGI(TAG, "%d mini_servo_set_cur_pos %d", m_module_id, pos);
if (!m_bus->isSupportSetCurPos(m_idinbus)) {
return err::kmini_servo_mode_not_support;
}
bool suc = m_bus->setCurPos(m_idinbus, pos);
if (!suc) return err::ksubdevice_overtime;
return 0;
}
void MiniServoCtrlModule::befor_motor_move() { void MiniServoCtrlModule::befor_motor_move() {
creg.module_status = 1; creg.module_status = 1;
creg.module_errorcode = 0; creg.module_errorcode = 0;

4
sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
View File

@ -7,10 +7,11 @@
namespace iflytop { namespace iflytop {
class MiniServoCtrlModule : public ZIModule, public ZIMiniServo { class MiniServoCtrlModule : public ZIModule, public ZIMiniServo {
ENABLE_MODULE(StepMotorCtrlModule, kmini_servo_motor_module,PC_VERSION);
ENABLE_MODULE(StepMotorCtrlModule, kmini_servo_motor_module, PC_VERSION);
public: public:
typedef struct { typedef struct {
int32_t shaft;
int32_t limit_velocity; // 0->10000 ,位置模式，有效。 int32_t limit_velocity; // 0->10000 ,位置模式，有效。
int32_t limit_torque; // 0->1000 ,位置模式，速度模式，有效。 int32_t limit_torque; // 0->1000 ,位置模式，速度模式，有效。
int32_t protective_torque; // 0->1000 ,暂时为使用 int32_t protective_torque; // 0->1000 ,暂时为使用
@ -52,6 +53,7 @@ class MiniServoCtrlModule : public ZIModule, public ZIMiniServo {
virtual int32_t mini_servo_set_mid_point() override; virtual int32_t mini_servo_set_mid_point() override;
virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t *val) override; virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t *val) override;
virtual int32_t mini_servo_set_cur_pos(int32_t pos) override;
private: private:
void befor_motor_move(); void befor_motor_move();

3
sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -160,6 +160,7 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
if (!read) { if (!read) {
module_active_cfg(); module_active_cfg();
} }
return ret;
} }
int32_t XYRobotCtrlModule::__module_xxx_reg(int32_t param_id, bool read, int32_t& val) { int32_t XYRobotCtrlModule::__module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
@ -560,4 +561,4 @@ int32_t XYRobotCtrlModule::xymotor_read_enc_direct(int32_t* enc1, int32_t* enc2)
*enc1 = m_stepM1->read_enc_val(); *enc1 = m_stepM1->read_enc_val();
*enc2 = m_stepM2->read_enc_val(); *enc2 = m_stepM2->read_enc_val();
return 0; return 0;
}
}

5
sdk/components/zcancmder/zcan_protocol_parser.cpp
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@ -53,6 +53,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(mini_servo_move_to); REGFN(mini_servo_move_to);
REGFN(mini_servo_rotate); REGFN(mini_servo_rotate);
REGFN(mini_servo_rotate_with_torque); REGFN(mini_servo_rotate_with_torque);
REGFN(mini_servo_set_cur_pos);
REGFN(extboard_read_inio); REGFN(extboard_read_inio);
REGFN(extboard_write_outio); REGFN(extboard_write_outio);
@ -413,6 +414,10 @@ int32_t ZCanProtocolParser::mini_servo_rotate_with_torque(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1); CHECK_AND_GET_MODULE(1);
return module->mini_servo_rotate_with_torque(cxt->params[0]); return module->mini_servo_rotate_with_torque(cxt->params[0]);
} }
int32_t ZCanProtocolParser::mini_servo_set_cur_pos(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_set_cur_pos(cxt->params[0]);
}
#undef MODULE_CLASS #undef MODULE_CLASS

3
sdk/components/zcancmder/zcan_protocol_parser.hpp
View File

@ -79,14 +79,13 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(step_motor_get_subdevice_reg); CMDFN(step_motor_get_subdevice_reg);
CMDFN(step_motor_easy_reciprocating_motion); CMDFN(step_motor_easy_reciprocating_motion);
CMDFN(mini_servo_enable); CMDFN(mini_servo_enable);
CMDFN(mini_servo_read_pos); CMDFN(mini_servo_read_pos);
CMDFN(mini_servo_active_cfg); CMDFN(mini_servo_active_cfg);
CMDFN(mini_servo_stop); CMDFN(mini_servo_stop);
CMDFN(mini_servo_set_mid_point); CMDFN(mini_servo_set_mid_point);
CMDFN(mini_servo_read_io_state); CMDFN(mini_servo_read_io_state);
CMDFN(mini_servo_set_cur_pos);
CMDFN(mini_servo_move_to); CMDFN(mini_servo_move_to);
CMDFN(mini_servo_rotate); CMDFN(mini_servo_rotate);

8
usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
View File

@ -38,7 +38,7 @@ void Subboard30ShakeModule::initialize() {
int subid = 4; int subid = 4;
int subidInBus = 1; int subidInBus = 1;
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001, true);
module.create_default_config(cfg); module.create_default_config(cfg);
module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg); module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
@ -51,7 +51,7 @@ void Subboard30ShakeModule::initialize() {
int subid = 5; int subid = 5;
int subidInBus = 2; int subidInBus = 2;
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001, false);
module.create_default_config(cfg); module.create_default_config(cfg);
module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg); module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
@ -64,7 +64,7 @@ void Subboard30ShakeModule::initialize() {
int subid = 6; int subid = 6;
int subidInBus = 3; int subidInBus = 3;
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001, false);
module.create_default_config(cfg); module.create_default_config(cfg);
module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg); module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
@ -77,7 +77,7 @@ void Subboard30ShakeModule::initialize() {
int subid = 7; int subid = 7;
int subidInBus = 4; int subidInBus = 4;
feiteservomotor_bus.regServo(subidInBus, feite::kscs009);
feiteservomotor_bus.regServo(subidInBus, feite::kscs009, false);
module.create_default_config(cfg); module.create_default_config(cfg);
module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg); module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);

6
usrc/subboards/subboard90_optical_module/pri_board.h
View File

@ -92,8 +92,8 @@
#define MOTOR2_CSN PB1 #define MOTOR2_CSN PB1
#define MOTOR2_ENN PD4 #define MOTOR2_ENN PD4
#define MOTOR2_REFL PD2
#define MOTOR2_REFR PD8
#define MOTOR2_REFL PD8
#define MOTOR2_REFR PD2
#define MOTOR2_REFL_MIRROR true #define MOTOR2_REFL_MIRROR true
#define MOTOR2_REFR_MIRROR true #define MOTOR2_REFR_MIRROR true
@ -102,7 +102,7 @@
#define MOTOR2_V1 800 #define MOTOR2_V1 800
#define MOTOR2_AMAX 300 #define MOTOR2_AMAX 300
#define MOTOR2_MOTOR_SHAFT true
#define MOTOR2_MOTOR_SHAFT false
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 20 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 20
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 3 #define MOTOR2_STEPMOTOR_IHOLD 3

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