project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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master
zhaohe 2 years ago
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dd3c399232
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6167c26448
2 changed files with 0 additions and 80 deletions
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  1. 38
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  2. 42
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

38
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -46,44 +46,6 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
public:
void initialize(int id, IStepperMotor* stepM, ZGPIO* zero_gpio, ZGPIO* end_gpio);
#if 0
int32_t set_current_pos(int32_t pos);
int32_t set_distance_scale(float distance_scale);
int32_t set_ihold_irun_iholddelay(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
int32_t set_acc(int32_t acc);
int32_t set_dec(int32_t dec);
int32_t set_speed(int32_t speed);
int32_t set_shaft(bool shaft);
int32_t set_runtozero_max_distance(int32_t distance);
int32_t set_runtozero_speed(int32_t speed);
int32_t set_runtozero_dec(int32_t dec);
int32_t set_runtozero_leave_away_zero_distance(int32_t distance);
int32_t set_zero_shift(int32_t shift);
int32_t set_break_dec(int32_t dec);
void dumpcfg(const char* tag);
int32_t enable(bool venable);
int32_t stop();
int32_t brake();
/*******************************************************************************
* ACTION *
*******************************************************************************/
int32_t move_to(int32_t pos, function<void(int32_t exec_status, int32_t topos)> status_cb);
int32_t move_by(int32_t dpos, function<void(int32_t exec_status, int32_t topos)> status_cb);
int32_t move_to_zero(function<void(int32_t exec_status, int32_t dpos)> status_cb);
int32_t move_to_zero_with_calibrate(int32_t nowpos, function<void(int32_t exec_status, int32_t zero_shift_pos)> status_cb);
// int32_t rotate(uint8_t direction, int32_t velocity, int32_t acc);
/*******************************************************************************
* READ *
*******************************************************************************/
int32_t read_status(uint8_t* module_statu, int32_t* pos, int32_t* velocity);
int32_t read_gpio_status(bool* zeroio, bool* endio);
int32_t get_zero_shift(int32_t* pos);
#endif
virtual int32_t move_to(int32_t x, function<void(move_to_cb_status_t& status)> status_cb) override;
virtual int32_t move_by(int32_t dx, function<void(move_by_cb_status_t& status)> status_cb) override;

42
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -83,48 +83,6 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
int32_t set_run_param( run_param_t& param);
int32_t set_run_to_zero_param( run_to_zero_param_t& param);
int32_t set_warning_limit_param( warning_limit_param_t& param);
#if 0
int32_t set_acc(int32_t acc);
int32_t set_dec(int32_t dec);
int32_t set_speed(int32_t speed);
int32_t set_zero_robottype(RobotType_t robot_type);
int32_t set_shaft(bool x_shaft, bool y_shaft);
int32_t set_zero_shift(int32_t x, int32_t y);
int32_t set_runtozero_max_distance(int32_t maxX, int32_t maxY);
int32_t set_runtozero_speed(int32_t speed);
int32_t set_runtozero_dec(int32_t dec);
int32_t set_runtozero_leave_away_zero_distance(int32_t maxXY);
int32_t set_distance_scale(float distance_scale);
int32_t set_current_pos(int32_t x, int32_t y);
int32_t set_ihold_irun_iholddelay(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
void read_version(kcmd_xy_robot_ctrl_read_version_cmd_t* cmd, kcmd_xy_robot_ctrl_read_version_ack_t* ack);
void read_status(kcmd_xy_robot_ctrl_read_status_cmd_t* cmd, kcmd_xy_robot_ctrl_read_status_ack_t* ack);
void read_debug_info(kcmd_xy_robot_ctrl_read_debug_info_cmd_t* cmd, kcmd_xy_robot_ctrl_read_debug_info_ack_t* ack);
void set_run_param(kcmd_xy_robot_ctrl_set_run_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_run_param_ack_t* ack);
void set_warning_limit_param(kcmd_xy_robot_ctrl_set_warning_limit_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_warning_limit_param_ack_t* ack);
void set_run_to_zero_param(kcmd_xy_robot_ctrl_set_run_to_zero_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_run_to_zero_param_ack_t* ack);
void dumpcfg(const char* tag);
int32_t enable(bool venable);
int32_t stop();
/*******************************************************************************
* ACTION *
*******************************************************************************/
int32_t move_to(int32_t x, int32_t y, function<void(int32_t exec_status, int32_t tox, int32_t toy)> status_cb);
int32_t move_by(int32_t dx, int32_t dy, function<void(int32_t exec_status, int32_t tox, int32_t toy)> status_cb);
int32_t move_to_zero(function<void(int32_t exec_status, int32_t dx, int32_t dy)> status_cb);
int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, function<void(int32_t exec_status, int32_t zero_shift_x, int32_t zero_shift_y)> status_cb);
/*******************************************************************************
* READ *
*******************************************************************************/
int32_t read_status(uint8_t* module_statu, int32_t* x, int32_t* y);
int32_t get_zero_shift(int32_t* x, int32_t* y);
#endif
void loop();

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