update

components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -10,18 +10,24 @@ static void limit_input(s32 &input, s32 min, s32 max) {
   if (input < min) input = min;
 }
 
-void MiniRobotCtrlModule::initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus) {
+void MiniRobotCtrlModule::initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus, flash_config_t *cfg) {
   m_bus       = bus;
   m_id        = idinbus;
   m_module_id = module_id;
 
+  m_cfg         = *cfg;
+  m_default_cfg = *cfg;
+
   m_bus->write_u8(m_id, feite::kRegServoRunMode, feite::kServoMode);
   m_thread.init("MiniRobotCtrlModule", 1024, osPriorityNormal);
+
+  enable(1);
 }
 
 int32_t MiniRobotCtrlModule::enable(u8 enable) {
   bool suc = m_bus->write_u8(m_id, feite::reg_add_e::kRegServoTorqueSwitch, enable);
   if (!suc) return err::ksubdevice_overtime;
+  m_com_reg.module_enable = enable;
   return err::ksucc;
 }
 int32_t MiniRobotCtrlModule::stop(u8 stop_type) {
@@ -326,6 +332,7 @@ int32_t MiniRobotCtrlModule::module_read_adc(int32_t adcindex, int32_t *adc) {
 int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
+    PROCESS_REG(kreg_motor_default_torque, REG_GET(m_cfg.default_torque), REG_SET(m_cfg.default_torque));
     PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
     PROCESS_REG(kreg_robot_pos, motor_read_pos(&val), ACTION_NONE);
     default:
@@ -410,3 +417,15 @@ int32_t MiniRobotCtrlModule::motor_read_pos(int32_t *pos) {
   if (!m_bus->getNowPos(m_id, *pos)) return err::ksubdevice_overtime;
   return 0;
 }
+int32_t MiniRobotCtrlModule::motor_easy_rotate(int32_t direction) {
+  if (direction == 1) {
+    return move_forward(m_cfg.default_torque);
+  } else if (direction == -1) {
+    return move_backward(m_cfg.default_torque);
+  } else {
+    return err::kparam_out_of_range;
+  }
+}
+int32_t MiniRobotCtrlModule::motor_easy_move_by(int32_t distance) { return move_by(distance, 0, m_cfg.default_torque, nullptr); }
+int32_t MiniRobotCtrlModule::motor_easy_move_to(int32_t position) { return move_to(position, 0, m_cfg.default_torque, nullptr); }
+int32_t MiniRobotCtrlModule::motor_easy_move_to_zero(int32_t direction) { return motor_easy_move_to(0); }

components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -10,14 +10,24 @@ namespace iflytop {
 class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZIMotor {
   ENABLE_MODULE(StepMotorCtrlModule, kmini_servo_motor_module, 0x0001);
 
+ public:
+  typedef struct {
+    s32 default_torque;
+  } flash_config_t;
+
+ private:
   FeiTeServoMotor *m_bus;
   uint8_t          m_id;
   uint16_t         m_module_id;
   ZThread          m_thread;
   s32              m_pos_shift;
 
+  flash_config_t m_cfg         = {0};
+  flash_config_t m_default_cfg = {0};
+
  public:
-  void initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus);
+  void        initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus, flash_config_t *cfg);
+  static void create_default_config(flash_config_t &cfg);
 
   virtual int32_t enable(u8 enable) override;
   virtual int32_t stop(u8 stop_type) override;
@@ -80,6 +90,11 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
 
   virtual int32_t motor_read_pos(int32_t *pos);
 
+  virtual int32_t motor_easy_rotate(int32_t direction);
+  virtual int32_t motor_easy_move_by(int32_t distance);
+  virtual int32_t motor_easy_move_to(int32_t position);
+  virtual int32_t motor_easy_move_to_zero(int32_t direction);
+
  private:
   void    call_status_cb(action_cb_status_t cb, int32_t status);
   void    set_errorcode(int32_t errorcode);

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -201,6 +201,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, i
   DUMP_CONFIG("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec);
   DUMP_CONFIG("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed);
   DUMP_CONFIG("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec);
+  DUMP_CONFIG("motor_default_torque", kreg_motor_default_torque);
 
   /*******************************************************************************
    *                                   MOTOR_X                                   *
@@ -226,6 +227,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, i
   DUMP_CONFIG("motor_x_run_to_zero_dec", kreg_motor_x_run_to_zero_dec);
   DUMP_CONFIG("motor_x_look_zero_edge_speed", kreg_motor_x_look_zero_edge_speed);
   DUMP_CONFIG("motor_x_look_zero_edge_dec", kreg_motor_x_look_zero_edge_dec);
+  DUMP_CONFIG("motor_x_default_torque", kreg_motor_x_default_torque);
 
   /*******************************************************************************
    *                                   MOTOR_Y                                   *
@@ -251,6 +253,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, i
   DUMP_CONFIG("motor_y_run_to_zero_dec", kreg_motor_y_run_to_zero_dec);
   DUMP_CONFIG("motor_y_look_zero_edge_speed", kreg_motor_y_look_zero_edge_speed);
   DUMP_CONFIG("motor_y_look_zero_edge_dec", kreg_motor_y_look_zero_edge_dec);
+  DUMP_CONFIG("motor_y_default_torque", kreg_motor_y_default_torque);
 
   /*******************************************************************************
    *                                   MOTOR_Z                                   *
@@ -276,6 +279,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, i
   DUMP_CONFIG("motor_z_run_to_zero_dec", kreg_motor_z_run_to_zero_dec);
   DUMP_CONFIG("motor_z_look_zero_edge_speed", kreg_motor_z_look_zero_edge_speed);
   DUMP_CONFIG("motor_z_look_zero_edge_dec", kreg_motor_z_look_zero_edge_dec);
+  DUMP_CONFIG("motor_z_default_torque", kreg_motor_z_default_torque);
 
   DUMP_CONFIG("xyrobot_robot_type", kreg_xyrobot_robot_type);
 

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 9265a6c2718afb6ab8c4877a729e73c6d05416ed
+Subproject commit d4ad18bf21a66dec4fdbbdcbd078c43df88ca923