diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp index 887948b..be39d79 100644 --- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp +++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp @@ -297,6 +297,7 @@ int32_t XYRobotCtrlModule::set_speed(int32_t speed) { m_cfg_velocity = speed; return 0; } +#if 0 int32_t XYRobotCtrlModule::set_runtozero_maxX(int32_t maxX) { zlock_guard lock(m_lock); ZLOGI(TAG, "set_runtozero_maxX:%d", maxX); @@ -309,6 +310,15 @@ int32_t XYRobotCtrlModule::set_runtozero_maxY(int32_t maxY) { m_cfg_runtozero_maxY = maxY; return 0; } +#endif +int32_t XYRobotCtrlModule::set_runtozero_max_distance(int32_t maxX, int32_t maxY) { + zlock_guard lock(m_lock); + ZLOGI(TAG, "set_runtozero_max_distance maxX:%d maxY:%d", maxX, maxY); + m_cfg_runtozero_maxX = maxX; + m_cfg_runtozero_maxY = maxY; + return 0; +} + int32_t XYRobotCtrlModule::set_runtozero_speed(int32_t speed) { zlock_guard lock(m_lock); ZLOGI(TAG, "set_runtozero_speed:%d", speed); @@ -322,9 +332,9 @@ int32_t XYRobotCtrlModule::set_runtozero_dec(int32_t dec) { return 0; } -int32_t XYRobotCtrlModule::set_runtozero_leave_away_zero_maxXY(int32_t maxXY) { +int32_t XYRobotCtrlModule::set_runtozero_leave_away_zero_distance(int32_t maxXY) { zlock_guard lock(m_lock); - ZLOGI(TAG, "set_runtozero_leave_away_zero_maxXY:%d", maxXY); + ZLOGI(TAG, "set_runtozero_leave_away_zero_distance:%d", maxXY); m_cfg_runtozero_leave_away_zero_maxXY = maxXY; return 0; } @@ -349,12 +359,21 @@ int32_t XYRobotCtrlModule::set_current_pos(int32_t x, int32_t y) { return 0; } +int32_t XYRobotCtrlModule::set_ihold_irun_iholddelay(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { + zlock_guard lock(m_lock); + ZLOGI(TAG, "set_ihold_irun_iholddelay ihold:%d irun:%d iholddelay:%d", ihold, irun, iholddelay); + m_stepM1->setIHOLD_IRUN(ihold, irun, iholddelay); + m_stepM2->setIHOLD_IRUN(ihold, irun, iholddelay); + 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); m_robot_type = robot_type; return 0; } +#if 0 int32_t XYRobotCtrlModule::set_x_shaft(bool x_shaft) { zlock_guard lock(m_lock); ZLOGI(TAG, "set_x_shaft:%d", x_shaft); @@ -367,6 +386,14 @@ int32_t XYRobotCtrlModule::set_y_shaft(bool y_shaft) { m_y_shaft = y_shaft; return 0; } +#endif +int32_t XYRobotCtrlModule::set_shaft(bool x_shaft, bool y_shaft) { + zlock_guard lock(m_lock); + ZLOGI(TAG, "set_shaft x_shaft:%d y_shaft:%d", x_shaft, y_shaft); + m_x_shaft = x_shaft; + m_y_shaft = y_shaft; + return 0; +} int32_t XYRobotCtrlModule::enable(bool venable) { zlock_guard lock(m_lock); diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp index fd0ade2..ef92488 100644 --- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp +++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp @@ -55,18 +55,15 @@ class XYRobotCtrlModule { 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_x_shaft(bool x_shaft); - int32_t set_y_shaft(bool y_shaft); - + 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_maxX(int32_t maxX); - int32_t set_runtozero_maxY(int32_t maxY); + 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_maxXY(int32_t maxXY); + 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 dumpcfg(const char* tag); diff --git a/components/zcancmder/cmd/basic_bean.hpp b/components/zcancmder/cmd/basic_bean.hpp index 2e9ef3d..95b7fd5 100644 --- a/components/zcancmder/cmd/basic_bean.hpp +++ b/components/zcancmder/cmd/basic_bean.hpp @@ -67,48 +67,51 @@ typedef enum { /******************************************************************************* * 1006 * *******************************************************************************/ - kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), - kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), - kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), - 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), - kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 102), - kcmd_xy_robot_ctrl_set_x_shaft = CMDID(1006, 103), - kcmd_xy_robot_ctrl_set_y_shaft = CMDID(1006, 104), - kcmd_xy_robot_ctrl_set_zero_robottype = CMDID(1006, 105), - kcmd_xy_robot_ctrl_set_runtozero_maxX = CMDID(1006, 106), - kcmd_xy_robot_ctrl_set_runtozero_maxY = CMDID(1006, 107), - kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 108), - kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 109), - kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_maxXY = CMDID(1006, 110), - kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 111), + kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能 + kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止 + kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零 + kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定 + kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置 + kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离 + kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50), // 读取机器人状态 + kcmd_xy_robot_ctrl_set_robottype = CMDID(1006, 100), // 机器人类型 + kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 101), // 设置当前位置 + kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 102), // 设置距离比例 + kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay = CMDID(1006, 103), // 设置电流 + kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 104), // 设置加速度 + kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 105), // 设置减速度 + kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 106), // 设置位置模式速度 + kcmd_xy_robot_ctrl_set_shaft = CMDID(1006, 107), // 设置轴是否反向 + kcmd_xy_robot_ctrl_set_runtozero_max_distance = CMDID(1006, 108), // 设置回零最大距离 + kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 109), // 设置回零速度 + kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 110), // 设置回零减速度 + kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1006, 111), // 设置离零点距离 + +#if 1 // /******************************************************************************* * 1007:单轴步进电机控制 * *******************************************************************************/ - 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), +// kcmd_step_motor_ctrl_enable +// kcmd_step_motor_ctrl_stop +// kcmd_step_motor_ctrl_move_to_zero +// kcmd_step_motor_ctrl_move_to_zero_with_calibrate +// kcmd_step_motor_ctrl_move_to +// kcmd_step_motor_ctrl_move_by +// kcmd_step_motor_ctrl_read_status +// kcmd_step_motor_ctrl_set_robottype +// kcmd_step_motor_ctrl_set_current_pos +// kcmd_step_motor_ctrl_set_distance_scale +// kcmd_step_motor_ctrl_set_ihold_irun_iholddelay +// kcmd_step_motor_ctrl_set_acc +// kcmd_step_motor_ctrl_set_dec +// kcmd_step_motor_ctrl_set_speed +// kcmd_step_motor_ctrl_set_shaft +// kcmd_step_motor_ctrl_set_runtozero_max_distance +// kcmd_step_motor_ctrl_set_runtozero_speed +// kcmd_step_motor_ctrl_set_runtozero_dec +// kcmd_step_motor_ctrl_set_runtozero_leave_away_zero_distance +#endif } CmdID_t; diff --git a/components/zcancmder/cmd/c1006_module_cmd.hpp b/components/zcancmder/cmd/c1006_module_cmd.hpp index f3a58fd..9dbf057 100644 --- a/components/zcancmder/cmd/c1006_module_cmd.hpp +++ b/components/zcancmder/cmd/c1006_module_cmd.hpp @@ -18,20 +18,35 @@ 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;); +#if 0 + kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50), // 读取机器人状态 + kcmd_xy_robot_ctrl_set_robottype = CMDID(1006, 100), // 机器人类型 + kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 101), // 设置当前位置 + kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 102), // 设置距离比例 + kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay = CMDID(1006, 103), // 设置电流 + kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 104), // 设置加速度 + kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 105), // 设置减速度 + kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 106), // 设置位置模式速度 + kcmd_xy_robot_ctrl_set_shaft = CMDID(1006, 107), // 设置轴是否反向 + kcmd_xy_robot_ctrl_set_runtozero_max_distance = CMDID(1006, 108), // 设置回零最大距离 + kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 109), // 设置回零速度 + kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 110), // 设置回零减速度 + kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1006, 111), // 设置离零点距离 +#endif + ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, cmd, uint8_t id; uint8_t _pad;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_robottype, cmd, uint8_t id; uint8_t _pad; uint8_t zero_robottype;); +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_set_distance_scale, cmd, uint8_t id; uint8_t _pad; float distance_scale;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay, cmd, uint8_t id; uint8_t _pad; uint8_t ihold; uint8_t irun; uint16_t iholddelay;); 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;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_speed, cmd, uint8_t id; uint8_t _pad; int32_t speed;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_x_shaft, cmd, uint8_t id; uint8_t _pad; uint8_t x_shaft;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_y_shaft, cmd, uint8_t id; uint8_t _pad; uint8_t y_shaft;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_zero_robottype, cmd, uint8_t id; uint8_t _pad; uint8_t zero_robottype;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_maxX, cmd, uint8_t id; uint8_t _pad; int32_t maxX;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_maxY, cmd, uint8_t id; uint8_t _pad; int32_t maxY;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_shaft, cmd, uint8_t id; uint8_t _pad; uint8_t x_shaft; uint8_t y_shaft;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_max_distance, cmd, uint8_t id; uint8_t _pad; int32_t maxX; int32_t maxY;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_speed, cmd, uint8_t id; uint8_t _pad; int32_t speed;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_dec, cmd, uint8_t id; uint8_t _pad; int32_t dec;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_maxXY, cmd, uint8_t id; uint8_t _pad; int32_t maxXY;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_distance_scale, cmd, uint8_t id; uint8_t _pad; float distance_scale;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, cmd, uint8_t id; uint8_t _pad; int32_t distance;); /******************************************************************************* * ACK * @@ -42,20 +57,21 @@ 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_robottype, 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_set_distance_scale, ack, uint8_t id; uint8_t _pad;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay, ack, uint8_t id; uint8_t _pad;); 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;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_speed, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_x_shaft, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_y_shaft, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_zero_robottype, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_maxX, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_maxY, ack, uint8_t id; uint8_t _pad;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_shaft, ack, uint8_t id; uint8_t _pad;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_max_distance, ack, uint8_t id; uint8_t _pad;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_speed, ack, uint8_t id; uint8_t _pad;); ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_dec, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_maxXY, ack, uint8_t id; uint8_t _pad;); -ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_distance_scale, ack, uint8_t id; uint8_t _pad;); +ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, ack, uint8_t id; uint8_t _pad;); + /******************************************************************************* * status_report * diff --git a/components/zcancmder_module/zcan_xy_robot_module.cpp b/components/zcancmder_module/zcan_xy_robot_module.cpp index a45355c..91d00bb 100644 --- a/components/zcancmder_module/zcan_xy_robot_module.cpp +++ b/components/zcancmder_module/zcan_xy_robot_module.cpp @@ -9,6 +9,21 @@ void ZCANXYRobotCtrlModule::initialize(ZCanCmder* cancmder, int id, XYRobotCtrlM m_xyRobotCtrlModule = xyRobotCtrlModule; cancmder->registerListener(this); } +#if 0 + kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50), // 读取机器人状态 + kcmd_xy_robot_ctrl_set_robottype = CMDID(1006, 100), // 机器人类型 + kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 101), // 设置当前位置 + kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 102), // 设置距离比例 + kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay = CMDID(1006, 103), // 设置电流 + kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 104), // 设置加速度 + kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 105), // 设置减速度 + kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 106), // 设置位置模式速度 + kcmd_xy_robot_ctrl_set_shaft = CMDID(1006, 107), // 设置轴是否反向 + kcmd_xy_robot_ctrl_set_runtozero_max_distance = CMDID(1006, 108), // 设置回零最大距离 + kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 109), // 设置回零速度 + kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 110), // 设置回零减速度 + kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1006, 111), // 设置离零点距离 +#endif void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) { printf("ZCANXYRobotCtrlModule::onRceivePacket %d %d\n", rxcmd->get_cmdheader()->cmdid, rxcmd->get_cmdheader()->subcmdid); @@ -82,53 +97,48 @@ 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); + 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_set_dec, m_id) { // - errorcode = m_xyRobotCtrlModule->set_dec(cmd->dec); + PROCESS_PACKET(kcmd_xy_robot_ctrl_set_distance_scale, m_id) { // + errorcode = m_xyRobotCtrlModule->set_distance_scale(cmd->distance_scale); } END_PROCESS_PACKET(); - PROCESS_PACKET(kcmd_xy_robot_ctrl_set_speed, m_id) { // - errorcode = m_xyRobotCtrlModule->set_speed(cmd->speed); + PROCESS_PACKET(kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay, m_id) { // + errorcode = m_xyRobotCtrlModule->set_ihold_irun_iholddelay(cmd->ihold, cmd->irun, cmd->iholddelay); } END_PROCESS_PACKET(); - PROCESS_PACKET(kcmd_xy_robot_ctrl_set_x_shaft, m_id) { // - errorcode = m_xyRobotCtrlModule->set_x_shaft(cmd->x_shaft); + 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_y_shaft, m_id) { // - errorcode = m_xyRobotCtrlModule->set_y_shaft(cmd->y_shaft); + 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_zero_robottype, m_id) { // - errorcode = m_xyRobotCtrlModule->set_zero_robottype((XYRobotCtrlModule::RobotType_t)cmd->zero_robottype); + 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_runtozero_maxX, m_id) { // - errorcode = m_xyRobotCtrlModule->set_runtozero_maxX(cmd->maxX); + PROCESS_PACKET(kcmd_xy_robot_ctrl_set_shaft, m_id) { // + errorcode = m_xyRobotCtrlModule->set_shaft(cmd->x_shaft, cmd->y_shaft); } END_PROCESS_PACKET(); - PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_maxY, m_id) { // - errorcode = m_xyRobotCtrlModule->set_runtozero_maxY(cmd->maxY); + PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_max_distance, m_id) { // + errorcode = m_xyRobotCtrlModule->set_runtozero_max_distance(cmd->maxX, cmd->maxY); } END_PROCESS_PACKET(); @@ -142,13 +152,8 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) { } 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); + PROCESS_PACKET(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, m_id) { // + errorcode = m_xyRobotCtrlModule->set_runtozero_leave_away_zero_distance(cmd->distance); } END_PROCESS_PACKET(); } \ No newline at end of file