project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
63ac046b35
commit
b76ed54543
5 changed files with 139 additions and 91 deletions
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  1. 31
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  2. 11
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  3. 79
      components/zcancmder/cmd/basic_bean.hpp
  4. 48
      components/zcancmder/cmd/c1006_module_cmd.hpp
  5. 61
      components/zcancmder_module/zcan_xy_robot_module.cpp

31
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -297,6 +297,7 @@ int32_t XYRobotCtrlModule::set_speed(int32_t speed) {
m_cfg_velocity = speed; m_cfg_velocity = speed;
return 0; return 0;
} }
#if 0
int32_t XYRobotCtrlModule::set_runtozero_maxX(int32_t maxX) { int32_t XYRobotCtrlModule::set_runtozero_maxX(int32_t maxX) {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
ZLOGI(TAG, "set_runtozero_maxX:%d", maxX); 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; m_cfg_runtozero_maxY = maxY;
return 0; 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) { int32_t XYRobotCtrlModule::set_runtozero_speed(int32_t speed) {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
ZLOGI(TAG, "set_runtozero_speed:%d", speed); ZLOGI(TAG, "set_runtozero_speed:%d", speed);
@ -322,9 +332,9 @@ int32_t XYRobotCtrlModule::set_runtozero_dec(int32_t dec) {
return 0; 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); 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; m_cfg_runtozero_leave_away_zero_maxXY = maxXY;
return 0; return 0;
} }
@ -349,12 +359,21 @@ int32_t XYRobotCtrlModule::set_current_pos(int32_t x, int32_t y) {
return 0; 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) { int32_t XYRobotCtrlModule::set_zero_robottype(RobotType_t robot_type) {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
ZLOGI(TAG, "set_zero_robottype:%d", robot_type); ZLOGI(TAG, "set_zero_robottype:%d", robot_type);
m_robot_type = robot_type; m_robot_type = robot_type;
return 0; return 0;
} }
#if 0
int32_t XYRobotCtrlModule::set_x_shaft(bool x_shaft) { int32_t XYRobotCtrlModule::set_x_shaft(bool x_shaft) {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
ZLOGI(TAG, "set_x_shaft:%d", x_shaft); 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; m_y_shaft = y_shaft;
return 0; 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) { int32_t XYRobotCtrlModule::enable(bool venable) {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);

11
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -55,18 +55,15 @@ class XYRobotCtrlModule {
int32_t set_dec(int32_t dec); int32_t set_dec(int32_t dec);
int32_t set_speed(int32_t speed); int32_t set_speed(int32_t speed);
int32_t set_zero_robottype(RobotType_t robot_type); 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_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_speed(int32_t speed);
int32_t set_runtozero_dec(int32_t dec); 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_distance_scale(float distance_scale);
int32_t set_current_pos(int32_t x, int32_t y); 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); void dumpcfg(const char* tag);

79
components/zcancmder/cmd/basic_bean.hpp
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@ -67,48 +67,51 @@ typedef enum {
/******************************************************************************* /*******************************************************************************
* 1006 * * 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 * * 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; } CmdID_t;

48
components/zcancmder/cmd/c1006_module_cmd.hpp
View File

@ -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_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_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_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_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_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_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_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_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_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 * * 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_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_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_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_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_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_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_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_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_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 * * status_report *

61
components/zcancmder_module/zcan_xy_robot_module.cpp
View File

@ -9,6 +9,21 @@ void ZCANXYRobotCtrlModule::initialize(ZCanCmder* cancmder, int id, XYRobotCtrlM
m_xyRobotCtrlModule = xyRobotCtrlModule; m_xyRobotCtrlModule = xyRobotCtrlModule;
cancmder->registerListener(this); 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) { void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
printf("ZCANXYRobotCtrlModule::onRceivePacket %d %d\n", rxcmd->get_cmdheader()->cmdid, rxcmd->get_cmdheader()->subcmdid); 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(); 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) { // PROCESS_PACKET(kcmd_xy_robot_ctrl_read_status, m_id) { //
errorcode = m_xyRobotCtrlModule->read_status(&ack->module_statu, &ack->x, &ack->y); errorcode = m_xyRobotCtrlModule->read_status(&ack->module_statu, &ack->x, &ack->y);
} }
END_PROCESS_PACKET(); 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(); 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(); 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(); 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(); 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(); 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(); 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(); 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(); END_PROCESS_PACKET();
@ -142,13 +152,8 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
} }
END_PROCESS_PACKET(); 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(); END_PROCESS_PACKET();
} }
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