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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
ec0227ca83
commit
63ac046b35
10 changed files with 97 additions and 28 deletions
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  1. 2
      components/tmc/basic/tmc_ic_interface.hpp
  2. 26
      components/tmc/ic/ztmc4361A.cpp
  3. 4
      components/tmc/ic/ztmc4361A.hpp
  4. 17
      components/tmc/ic/ztmc5130.cpp
  5. 4
      components/tmc/ic/ztmc5130.hpp
  6. 20
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  7. 5
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  8. 22
      components/zcancmder/cmd/basic_bean.hpp
  9. 2
      components/zcancmder/cmd/c1006_module_cmd.hpp
  10. 23
      components/zcancmder_module/zcan_xy_robot_module.cpp

2
components/tmc/basic/tmc_ic_interface.hpp
View File

@ -58,7 +58,7 @@ class IStepperMotor {
virtual bool isStoped() = 0;
virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) = 0;
virtual void setDistanceK(float distanceK) = 0;
virtual void setScale(float scale) = 0;
virtual void enable(bool enable) = 0;
};

26
components/tmc/ic/ztmc4361A.cpp
View File

@ -141,7 +141,7 @@ void TMC4361A::setAcceleration(float accelerationpps2) {
* AMAX [pps2] = AMAX / 237 ?? fCLK^2
*/
accelerationpps2 *= m_distanceK;
accelerationpps2 *= m_scale;
int32_t acc = (int32_t)accelerationpps2;
writeInt(TMC4361A_AMAX, acc << 2);
}
@ -156,7 +156,7 @@ void TMC4361A::setDeceleration(float accelerationpps2) {
* a[?v per clk_cycle]= AMAX / 2^37
* AMAX [pps2] = AMAX / 237 ?? fCLK^2
*/
accelerationpps2 *= m_distanceK;
accelerationpps2 *= m_scale;
int32_t acc = (int32_t)accelerationpps2;
writeInt(TMC4361A_DMAX, acc << 2);
}
@ -201,7 +201,7 @@ void TMC4361A::initialize(cfg_t *cfg) {
driverIC_setIHOLD_IRUN(1, 3, 0);
}
void TMC4361A::setDistanceK(float distanceK) { m_distanceK = distanceK; }
void TMC4361A::setScale(float scale) { m_scale = scale; }
uint8_t TMC4361A::reset() {
// Pulse the low-active hardware reset pin
@ -247,13 +247,13 @@ uint8_t TMC4361A::reset() {
}
uint8_t TMC4361A::restore() { return 1; }
int32_t TMC4361A::getXACTUAL() { return readInt(TMC4361A_XACTUAL) / m_distanceK; }
void TMC4361A::setXACTUAL(int32_t value) { writeInt(TMC4361A_XACTUAL, value * m_distanceK); }
int32_t TMC4361A::getVACTUAL() { return readInt(TMC4361A_VACTUAL) / m_distanceK; }
int32_t TMC4361A::getXTARGET() { return readInt(TMC4361A_X_TARGET) / m_distanceK; }
int32_t TMC4361A::getENC_POS() { return readInt(TMC4361A_ENC_POS) / m_distanceK; }
void TMC4361A::setENC_POS(int32_t value) { writeInt(TMC4361A_ENC_POS, value * m_distanceK); }
int32_t TMC4361A::getENC_POS_DEV() { return readInt(TMC4361A_ENC_POS_DEV_RD) / m_distanceK; }
int32_t TMC4361A::getXACTUAL() { return readInt(TMC4361A_XACTUAL) / m_scale; }
void TMC4361A::setXACTUAL(int32_t value) { writeInt(TMC4361A_XACTUAL, value * m_scale); }
int32_t TMC4361A::getVACTUAL() { return readInt(TMC4361A_VACTUAL) / m_scale; }
int32_t TMC4361A::getXTARGET() { return readInt(TMC4361A_X_TARGET) / m_scale; }
int32_t TMC4361A::getENC_POS() { return readInt(TMC4361A_ENC_POS) / m_scale; }
void TMC4361A::setENC_POS(int32_t value) { writeInt(TMC4361A_ENC_POS, value * m_scale); }
int32_t TMC4361A::getENC_POS_DEV() { return readInt(TMC4361A_ENC_POS_DEV_RD) / m_scale; }
void TMC4361A::enableIC(bool enable) {
SET_PIN(m_ennPin, !enable);
SET_PIN(m_driverIC_ennPin, !enable);
@ -266,15 +266,15 @@ int32_t tmc4361A_discardVelocityDecimals(int32_t value) {
return value << 8;
}
void TMC4361A::rotate(int32_t velocity) {
velocity *= m_distanceK;
velocity *= m_scale;
m_motor_mode = kvelmode;
PRV_FIELD_WRITE(TMC4361A_RAMPMODE, TMC4361A_OPERATION_MODE_MASK, TMC4361A_OPERATION_MODE_SHIFT, 0);
writeInt(TMC4361A_VMAX, tmc4361A_discardVelocityDecimals(velocity));
}
void TMC4361A::stop() { rotate(0); }
void TMC4361A::moveTo(int32_t position, uint32_t velocityMax) {
position *= m_distanceK;
velocityMax *= m_distanceK;
position *= m_scale;
velocityMax *= m_scale;
m_motor_mode = kposmode;
PRV_FIELD_WRITE(TMC4361A_RAMPMODE, TMC4361A_OPERATION_MODE_MASK, TMC4361A_OPERATION_MODE_SHIFT, 1);

4
components/tmc/ic/ztmc4361A.hpp
View File

@ -74,7 +74,7 @@ class TMC4361A : public IStepperMotor {
motor_mode_t m_motor_mode = kvelmode;
float m_distanceK = 1.0;
float m_scale = 1.0;
public:
TMC4361A(/* args */);
@ -116,7 +116,7 @@ class TMC4361A : public IStepperMotor {
virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_setIHOLD_IRUN(ihold, irun, iholddelay); }
virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }
virtual void setDistanceK(float distanceK);
virtual void setScale(float scale);
/*******************************************************************************
* Çý¯Æ÷³õʼ»¯·½·¨ *

17
components/tmc/ic/ztmc5130.cpp
View File

@ -1,4 +1,5 @@
#include "ztmc5130.hpp"
#include "sdk/os/zos.hpp"
#ifdef HAL_SPI_MODULE_ENABLED
@ -92,11 +93,11 @@ uint8_t TMC5130::reset() {
}
return 0;
}
int32_t TMC5130::getXACTUAL() { return readInt(TMC5130_XACTUAL); }
void TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, value); }
int32_t TMC5130::getVACTUAL() { return readInt(TMC5130_VACTUAL); }
void TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(accelerationpps2)); } // 设置最大加速度
void TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(accelerationpps2)); } // 设置最大减速度
int32_t TMC5130::getXACTUAL() { return readInt(TMC5130_XACTUAL) / m_scale; }
void TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, value * m_scale); }
int32_t TMC5130::getVACTUAL() { return readInt(TMC5130_VACTUAL) / m_scale; }
void TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(accelerationpps2 * m_scale)); } // 设置最大加速度
void TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(accelerationpps2 * m_scale)); } // 设置最大减速度
void TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
void TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) {
writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT));
@ -112,12 +113,15 @@ Tmc5130RampStat TMC5130::getTMC5130_RAMPSTAT2() {
}
void TMC5130::stop() { rotate(0); }
void TMC5130::rotate(int32_t velocity) {
velocity *= m_scale;
writeInt(TMC5130_VMAX, abs(velocity));
writeInt(TMC5130_RAMPMODE, (velocity >= 0) ? TMC5130_MODE_VELPOS : TMC5130_MODE_VELNEG);
}
void TMC5130::right(int32_t velocity) { rotate(velocity); }
void TMC5130::left(int32_t velocity) { rotate(-velocity); }
void TMC5130::moveTo(int32_t position, uint32_t velocityMax) {
position *= m_scale;
velocityMax *= m_scale;
writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
writeInt(TMC5130_VMAX, velocityMax);
writeInt(TMC5130_XTARGET, position);
@ -149,6 +153,9 @@ bool TMC5130::isReachTarget() {
return event.isSetted(Tmc5130RampStat::ktmc5130_rs_vzero) && event.isSetted(Tmc5130RampStat::ktmc5130_rs_velreached);
}
}
void TMC5130::setScale(float scale) { m_scale = scale; }
/*******************************************************************************
* basic *
*******************************************************************************/

4
components/tmc/ic/ztmc5130.hpp
View File

@ -84,6 +84,8 @@ class TMC5130 : public IStepperMotor {
const uint8_t *m_registerAccessTable;
const int32_t *m_defaultRegisterResetState;
float m_scale = 1.0;
public:
TMC5130(/* args */);
@ -109,6 +111,8 @@ class TMC5130 : public IStepperMotor {
virtual int32_t getENC_POS() { return 0; } // TODO impl it
virtual void setENC_POS(int32_t value) {} // TODO impl it
virtual void setScale(float scale);
virtual void setAcceleration(float accelerationpps2);
virtual void setDeceleration(float accelerationpps2);

20
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -8,7 +8,7 @@ void XYRobotCtrlModule::initialize(IStepperMotor* stepM1, //
IStepperMotor* stepM2, //
ZGPIO* Xgpio, //
ZGPIO* Ygpio, //
float distanceK) {
float scale) {
m_stepM1 = stepM1;
m_stepM2 = stepM2;
m_Xgpio = Xgpio;
@ -17,8 +17,8 @@ void XYRobotCtrlModule::initialize(IStepperMotor* stepM1, //
ZASSERT(m_stepM2);
ZASSERT(m_Xgpio);
ZASSERT(m_Ygpio);
m_stepM1->setDistanceK(distanceK);
m_stepM2->setDistanceK(distanceK);
m_stepM1->setScale(scale);
m_stepM2->setScale(scale);
m_lock.init();
m_statu_lock.init();
m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
@ -331,14 +331,24 @@ int32_t XYRobotCtrlModule::set_runtozero_leave_away_zero_maxXY(int32_t maxXY) {
int32_t XYRobotCtrlModule::set_distance_scale(float distance_scale) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "set_distance_scale:%f", distance_scale);
m_stepM1->setDistanceK(distance_scale);
m_stepM2->setDistanceK(distance_scale);
m_stepM1->setScale(distance_scale);
m_stepM2->setScale(distance_scale);
m_cfg_distance_scale = distance_scale;
return 0;
}
void XYRobotCtrlModule::loop() {}
int32_t XYRobotCtrlModule::set_current_pos(int32_t x, int32_t y) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "set_current_pos x:%d y:%d", x, y);
int32_t m1pos, m2pos;
forward_kinematics(x, y, m1pos, m2pos);
m_stepM1->setXACTUAL(m1pos);
m_stepM2->setXACTUAL(m2pos);
return 0;
}
int32_t XYRobotCtrlModule::set_zero_robottype(RobotType_t robot_type) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "set_zero_robottype:%d", robot_type);

5
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -37,7 +37,7 @@ class XYRobotCtrlModule {
int32_t m_cfg_runtozero_maxY = 5120000;
int32_t m_cfg_runtozero_speed = 30000;
int32_t m_cfg_runtozero_dec = 600000;
int32_t m_cfg_runtozero_leave_away_zero_maxXY = 51200 ;
int32_t m_cfg_runtozero_leave_away_zero_maxXY = 51200;
float m_cfg_distance_scale = 1.0f;
RobotType_t m_robot_type = corexy;
@ -49,7 +49,7 @@ class XYRobotCtrlModule {
IStepperMotor* stepM2, //
ZGPIO* Xgpio, //
ZGPIO* Ygpio, //
float distanceK);
float scale);
int32_t set_acc(int32_t acc);
int32_t set_dec(int32_t dec);
@ -66,6 +66,7 @@ class XYRobotCtrlModule {
int32_t set_runtozero_dec(int32_t dec);
int32_t set_runtozero_leave_away_zero_maxXY(int32_t maxXY);
int32_t set_distance_scale(float distance_scale);
int32_t set_current_pos(int32_t x, int32_t y);
void dumpcfg(const char* tag);

22
components/zcancmder/cmd/basic_bean.hpp
View File

@ -73,6 +73,7 @@ typedef enum {
kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3),
kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4),
kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5),
kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 6),
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50),
kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 100),
kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 101),
@ -87,6 +88,27 @@ typedef enum {
kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_maxXY = CMDID(1006, 110),
kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 111),
//
/*******************************************************************************
* 1007:µ¥Öá²½½øµç»ú¿ØÖÆ *
*******************************************************************************/
kcmd_step_motor_ctrl_enable = CMDID(1007, 0),
kcmd_step_motor_ctrl_stop = CMDID(1007, 1),
kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2),
kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3),
kcmd_step_motor_ctrl_move_to = CMDID(1007, 4),
kcmd_step_motor_ctrl_move_by = CMDID(1007, 5),
kcmd_step_motor_ctrl_set_current_pos = CMDID(1007, 6),
kcmd_step_motor_ctrl_read_status = CMDID(1007, 50),
kcmd_step_motor_ctrl_set_acc = CMDID(1007, 100),
kcmd_step_motor_ctrl_set_dec = CMDID(1007, 101),
kcmd_step_motor_ctrl_set_speed = CMDID(1007, 102),
kcmd_step_motor_ctrl_set_shaft = CMDID(1007, 103),
kcmd_step_motor_ctrl_set_zero_shift = CMDID(1007, 104),
kcmd_step_motor_ctrl_set_runtozero_max_distance = CMDID(1007, 105),
kcmd_step_motor_ctrl_set_runtozero_speed = CMDID(1007, 106),
kcmd_step_motor_ctrl_set_runtozero_dec = CMDID(1007, 107),
kcmd_step_motor_ctrl_set_runtozero_leave_away_zero_max_distance = CMDID(1007, 108),
kcmd_step_motor_ctrl_set_distance_scale = CMDID(1007, 109),
} CmdID_t;

2
components/zcancmder/cmd/c1006_module_cmd.hpp
View File

@ -18,6 +18,7 @@ ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, cmd, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, cmd, uint8_t id; uint8_t _pad; int32_t dx; int32_t dy;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, cmd, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_acc, cmd, uint8_t id; uint8_t _pad; int32_t acc;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_dec, cmd, uint8_t id; uint8_t _pad; int32_t dec;);
@ -41,6 +42,7 @@ ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, ack, uint8_t id; uint8_t module_statu; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_acc, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_dec, ack, uint8_t id; uint8_t _pad;);

23
components/zcancmder_module/zcan_xy_robot_module.cpp
View File

@ -16,10 +16,12 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
errorcode = m_xyRobotCtrlModule->enable(cmd->enable);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_stop, m_id) { //
errorcode = m_xyRobotCtrlModule->stop();
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_move_to_zero, m_id) { //
errorcode = m_xyRobotCtrlModule->move_to_zero([this, cmdheader](int32_t exec_status, int32_t dx, int32_t dy) {
osDelay(5); // 用来保证回执消息在前面
@ -34,6 +36,7 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
});
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, m_id) { //
errorcode =
m_xyRobotCtrlModule->move_to_zero_with_calibrate(cmd->x, cmd->y, [this, cmdheader](int32_t exec_status, int32_t zero_shift_x, int32_t zero_shift_y) {
@ -49,6 +52,7 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
});
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_move_to, m_id) { //
errorcode = m_xyRobotCtrlModule->move_to(cmd->x, cmd->y, [this, cmdheader](int32_t exec_status, int32_t tox, int32_t toy) {
osDelay(5); // 用来保证回执消息在前面
@ -63,6 +67,7 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
});
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_move_by, m_id) { //
errorcode = m_xyRobotCtrlModule->move_by(cmd->dx, cmd->dy, [this, cmdheader](int32_t exec_status, int32_t tox, int32_t toy) {
ZLOGI(TAG, "kcmd_xy_robot_ctrl_move_by exec_status:%d tox:%d toy:%d", exec_status, tox, toy);
@ -76,54 +81,72 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
});
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_current_pos, m_id) { //
errorcode = m_xyRobotCtrlModule->set_current_pos(cmd->x, cmd->y);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_read_status, m_id) { //
errorcode = m_xyRobotCtrlModule->read_status(&ack->module_statu, &ack->x, &ack->y);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_acc, m_id) { //
errorcode = m_xyRobotCtrlModule->set_acc(cmd->acc);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_dec, m_id) { //
errorcode = m_xyRobotCtrlModule->set_dec(cmd->dec);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_speed, m_id) { //
errorcode = m_xyRobotCtrlModule->set_speed(cmd->speed);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_x_shaft, m_id) { //
errorcode = m_xyRobotCtrlModule->set_x_shaft(cmd->x_shaft);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_y_shaft, m_id) { //
errorcode = m_xyRobotCtrlModule->set_y_shaft(cmd->y_shaft);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_zero_robottype, m_id) { //
errorcode = m_xyRobotCtrlModule->set_zero_robottype((XYRobotCtrlModule::RobotType_t)cmd->zero_robottype);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_maxX, m_id) { //
errorcode = m_xyRobotCtrlModule->set_runtozero_maxX(cmd->maxX);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_maxY, m_id) { //
errorcode = m_xyRobotCtrlModule->set_runtozero_maxY(cmd->maxY);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_speed, m_id) { //
errorcode = m_xyRobotCtrlModule->set_runtozero_speed(cmd->speed);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_dec, m_id) { //
errorcode = m_xyRobotCtrlModule->set_runtozero_dec(cmd->dec);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_maxXY, m_id) { //
errorcode = m_xyRobotCtrlModule->set_runtozero_leave_away_zero_maxXY(cmd->maxXY);
}
END_PROCESS_PACKET();
PROCESS_PACKET(kcmd_xy_robot_ctrl_set_distance_scale, m_id) { //
errorcode = m_xyRobotCtrlModule->set_distance_scale(cmd->distance_scale);
}

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