v1013 | 舵机添加新的寄存器

a8000_protocol

@@ -1 +1 @@
-Subproject commit 644059e79fd881d2a6c0d2f9b6ddc1098d9fabe4
+Subproject commit a16732b2c0be0cec93c0099b56643befe27fe411

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -23,6 +23,7 @@ void MiniServoCtrlModule::create_default_config(config_t &cfg) {
   cfg.limit_velocity       = 10000;
   cfg.limit_torque         = 300;
   cfg.protective_torque    = 800;
+  cfg.target_pos_tolerance = 15;
 }
 
 int32_t MiniServoCtrlModule::getid(int32_t *id) {
@@ -36,6 +37,7 @@ int32_t MiniServoCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
     PROCESS_REG(kreg_mini_servo_limit_velocity, REG_GET(m_cfg.limit_velocity), REG_SET(m_cfg.limit_velocity));
     PROCESS_REG(kreg_mini_servo_limit_torque, REG_GET(m_cfg.limit_torque), REG_SET(m_cfg.limit_torque));
     PROCESS_REG(kreg_mini_servo_protective_torque, REG_GET(m_cfg.protective_torque), REG_SET(m_cfg.protective_torque));
+    PROCESS_REG(kreg_mini_servo_target_pos_tolerance, REG_GET(m_cfg.target_pos_tolerance), REG_SET(m_cfg.target_pos_tolerance));
     PROCESS_REG(kreg_mini_servo_is_move, mini_servo_is_move(&val), ACTION_NONE);
 
     PROCESS_REG(kreg_mini_servo_status, mini_servo_read_reg(kreg_mini_servo_status, &val), ACTION_NONE);
@@ -174,12 +176,11 @@ int32_t MiniServoCtrlModule::mini_servo_move_to(int32_t pos3600) {
             return;
           }
 
-
           while (true) {
             if (m_thread.getExitFlag()) break;
             if (!check_when_run(&status)) break;
 
-            if (poseq(status.pos, pos3600, 10) && status.isMove == 0) break;
+            if (poseq(status.pos, pos3600, m_cfg.target_pos_tolerance) && status.isMove == 0) break;
 
             vTaskDelay(5);
           }

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -16,6 +16,7 @@ class MiniServoCtrlModule : public ZIModule {
     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 protective_torque;     // 0->1000  ,暂时为使用
+    int32_t target_pos_tolerance;  // 0->3600
   } config_t;
 
   typedef struct {