project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
d4c0048415
commit
3b6bcbe155
7 changed files with 57 additions and 9 deletions
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  1. 2
      components/eq_20_asb_motor/eq20_servomotor.cpp
  2. 2
      components/eq_20_asb_motor/eq20_servomotor.hpp
  3. 50
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  4. 6
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  5. 2
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  6. 2
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  7. 2
      components/zprotocols/zcancmder_v2

2
components/eq_20_asb_motor/eq20_servomotor.cpp
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@ -269,7 +269,7 @@ int32_t Eq20ServoMotor::motor_enable(int32_t varenable) {
int32_t Eq20ServoMotor::motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
int32_t Eq20ServoMotor::motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
int32_t Eq20ServoMotor::motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
int32_t Eq20ServoMotor::motor_move_to_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
int32_t Eq20ServoMotor::motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
int32_t Eq20ServoMotor::motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return rotate(direction * motor_velocity, acctime); };
int32_t Eq20ServoMotor::motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return move_by(distance, motor_velocity, acctime); };

2
components/eq_20_asb_motor/eq20_servomotor.hpp
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@ -118,7 +118,7 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;

50
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
View File

@ -289,10 +289,13 @@ int32_t MiniRobotCtrlModule::module_get_error(int32_t *iserror) {
* @brief TODO:
* Ìí¼Ó¹ýÔؼì²â
*/
*iserror = 0;
*iserror = m_errorcode;
return 0;
}
int32_t MiniRobotCtrlModule::module_clear_error() {
m_errorcode = 0;
return 0;
}
int32_t MiniRobotCtrlModule::module_clear_error() { return 0; }
int32_t MiniRobotCtrlModule::module_set_param(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
int32_t MiniRobotCtrlModule::module_get_param(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
@ -313,13 +316,54 @@ int32_t MiniRobotCtrlModule::motor_enable(int32_t varenable) { return enable(var
int32_t MiniRobotCtrlModule::motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return rotate(direction, motor_velocity, acc, nullptr); }
int32_t MiniRobotCtrlModule::motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return move_by(distance, motor_velocity, acc, nullptr); }
int32_t MiniRobotCtrlModule::motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return move_to(position, motor_velocity, acc, nullptr); }
int32_t MiniRobotCtrlModule::motor_move_to_with_torque(int32_t direction, int32_t torque) {
int32_t MiniRobotCtrlModule::motor_rotate_with_torque(int32_t direction, int32_t torque) {
if (direction >= 0) {
return move_forward(torque);
} else {
return move_backward(torque);
}
}
void MiniRobotCtrlModule::set_errorcode(int32_t errorcode) { m_errorcode = errorcode; }
int32_t MiniRobotCtrlModule::motor_move_to_torque(int32_t targetpos, int32_t torque, int32_t overtime) {
ZLOGI(TAG, "move_backward torque:%d", torque);
if (!m_bus->ping(m_id)) return err::ksubdevice_overtime;
limit_input(torque, 0, 1000);
m_thread.stop();
if (!m_bus->moveTo(m_id, targetpos, 0, torque)) return err::ksubdevice_overtime;
m_thread.start([this, torque, overtime, targetpos]() {
int32_t entertime = zos_get_tick();
while (true) {
if (m_thread.getExitFlag()) break;
if (overtime != 0 && zos_haspassedms(entertime) > overtime) {
ZLOGI(TAG, "motor_move_to_torque %d overtime", m_id);
stop(0);
set_errorcode(err::kmotor_run_overtime);
break;
}
int32_t nowpos = 0;
uint8_t moveFlag = 0;
m_bus->getNowPos(m_id, nowpos);
m_bus->getMoveFlag(m_id, moveFlag);
if (nowpos - targetpos < 10 && moveFlag == 0) {
ZLOGI(TAG, "motor_move_to_torque %d succ", m_id);
stop(0);
break;
}
m_thread.sleep(10);
}
stop(0);
});
return 0;
}
int32_t MiniRobotCtrlModule::motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
int32_t MiniRobotCtrlModule::motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }

6
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
View File

@ -16,6 +16,8 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
s32 m_last_exec_status = 0;
int32_t m_errorcode = 0;
public:
void initialize(uint16_t module_id, FeiTeServoMotor *bus, uint8_t idinbus);
@ -67,7 +69,8 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
@ -80,5 +83,6 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
private:
void call_status_cb(action_cb_status_t cb, int32_t status);
void set_errorcode(int32_t errorcode);
};
} // namespace iflytop

2
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -774,7 +774,7 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity,
[this, tox]() { _motor_stop(); });
return 0;
}
int32_t StepMotorCtrlModule::motor_move_to_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
int32_t StepMotorCtrlModule::motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }

2
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -131,7 +131,7 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;

2
components/zprotocols/zcancmder_v2

@ -1 +1 @@
Subproject commit 84c9be43174493f0de079de781ff35fcd954a0cd
Subproject commit 481aede1a713fc1e3a12d91970ee9aea6d722d7d
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