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a8000_subboard_sdk
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update

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zhaohe 2 years ago
parent
d178ffda5f
commit
be32566b42
4 changed files with 181 additions and 207 deletions
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  1. 365
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  2. 5
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  3. 16
      components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp
  4. 2
      components/zprotocols/zcancmder

365
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -40,29 +40,29 @@ int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int speed, action_cb_st
ZLOGI(TAG, "move_to x:%d y:%d", x, y);
int runspeed = speed;
if (speed == 0) {
runspeed = m_cfg.maxspeed;
runspeed = m_basecfg.maxspeed;
}
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
runspeed = m_cfg.maxspeed;
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
runspeed = m_basecfg.maxspeed;
}
if (m_cfg.min_x != 0 && x < m_cfg.min_x) {
x = m_cfg.min_x;
if (m_basecfg.min_x != 0 && x < m_basecfg.min_x) {
x = m_basecfg.min_x;
}
if (m_cfg.max_x != 0 && x > m_cfg.max_x) {
x = m_cfg.max_x;
if (m_basecfg.max_x != 0 && x > m_basecfg.max_x) {
x = m_basecfg.max_x;
}
if (m_cfg.min_y != 0 && y < m_cfg.min_y) {
y = m_cfg.min_y;
if (m_basecfg.min_y != 0 && y < m_basecfg.min_y) {
y = m_basecfg.min_y;
}
if (m_cfg.max_y != 0 && y > m_cfg.max_y) {
y = m_cfg.max_y;
if (m_basecfg.max_y != 0 && y > m_basecfg.max_y) {
y = m_basecfg.max_y;
}
// int32_t m1pos, m2pos;
m_thread.stop();
m_thread.start([this, x, y, runspeed, status_cb]() {
_motor_move_to(x, y, runspeed, m_cfg.acc, m_cfg.dec);
_motor_move_to(x, y, runspeed, m_basecfg.acc, m_basecfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
vTaskDelay(10);
@ -82,8 +82,8 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, a
m_thread.stop();
_motor_stop();
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
speed = m_cfg.maxspeed;
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
speed = m_basecfg.maxspeed;
}
int32_t s_x, s_y, to_x, to_y;
getnowpos(s_x, s_y);
@ -91,7 +91,7 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, a
to_y = s_y + dy;
m_thread.start([this, to_x, to_y, speed, status_cb]() {
_motor_move_to(to_x, to_y, speed, m_cfg.acc, m_cfg.dec);
_motor_move_to(to_x, to_y, speed, m_basecfg.acc, m_basecfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
@ -115,28 +115,28 @@ int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int speed, action_cb_
_motor_stop();
if (speed == 0) {
speed = m_cfg.maxspeed;
speed = m_basecfg.maxspeed;
}
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
speed = m_cfg.maxspeed;
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
speed = m_basecfg.maxspeed;
}
int32_t s_x, s_y, to_x, to_y;
getnowpos(s_x, s_y);
to_x = s_x + dx;
to_y = s_y + dy;
if (m_cfg.min_x != 0 && to_x < m_cfg.min_x) {
to_x = m_cfg.min_x;
if (m_basecfg.min_x != 0 && to_x < m_basecfg.min_x) {
to_x = m_basecfg.min_x;
}
if (m_cfg.max_x != 0 && to_x > m_cfg.max_x) {
to_x = m_cfg.max_x;
if (m_basecfg.max_x != 0 && to_x > m_basecfg.max_x) {
to_x = m_basecfg.max_x;
}
if (m_cfg.min_y != 0 && to_y < m_cfg.min_y) {
to_y = m_cfg.min_y;
if (m_basecfg.min_y != 0 && to_y < m_basecfg.min_y) {
to_y = m_basecfg.min_y;
}
if (m_cfg.max_y != 0 && to_y > m_cfg.max_y) {
to_y = m_cfg.max_y;
if (m_basecfg.max_y != 0 && to_y > m_basecfg.max_y) {
to_y = m_basecfg.max_y;
}
if (to_x == s_x && to_y == s_y) {
@ -145,7 +145,7 @@ int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int speed, action_cb_
}
m_thread.start([this, to_x, to_y, speed, status_cb]() {
_motor_move_to(to_x, to_y, speed, m_cfg.acc, m_cfg.dec);
_motor_move_to(to_x, to_y, speed, m_basecfg.acc, m_basecfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
@ -212,8 +212,8 @@ int32_t XYRobotCtrlModule::move_to_zero_with_calibrate(int32_t x, int32_t y, act
calibrate_x = dx + x;
calibrate_y = dy + y;
m_zero_shift_x = calibrate_x;
m_zero_shift_y = calibrate_y;
m_basecfg.shift_x = calibrate_x;
m_basecfg.shift_y = calibrate_y;
m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0);
@ -245,7 +245,7 @@ int32_t XYRobotCtrlModule::stop(uint8_t stopType) {
} else {
ZLOGI(TAG, "breakStop");
m_thread.stop();
_motor_stop(m_cfg.breakdec);
_motor_stop(m_basecfg.breakdec);
return 0;
}
}
@ -293,91 +293,57 @@ int32_t XYRobotCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
}
void XYRobotCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg));
cfg.robot_type = corexy;
cfg.x_shaft = 0;
cfg.y_shaft = 0;
cfg.ihold = 1;
cfg.irun = 3;
cfg.iholddelay = 100;
cfg.distance_scale = 10000;
cfg.shift_x = 0;
cfg.shift_y = 0;
cfg.basecfg.robot_type = corexy;
cfg.basecfg.x_shaft = 0;
cfg.basecfg.y_shaft = 0;
cfg.basecfg.ihold = 1;
cfg.basecfg.irun = 3;
cfg.basecfg.iholddelay = 100;
cfg.basecfg.distance_scale = 10000;
cfg.basecfg.shift_x = 0;
cfg.basecfg.shift_y = 0;
// limit
cfg.acc = 300;
cfg.dec = 300;
cfg.breakdec = 1600;
cfg.maxspeed = 800;
cfg.min_x = 0;
cfg.max_x = 0;
cfg.min_y = 0;
cfg.max_y = 0;
cfg.run_to_zero_max_d = 10000 * 100;
cfg.leave_from_zero_max_d = 3 * 10000;
cfg.run_to_zero_speed = 300;
cfg.run_to_zero_dec = 1600;
cfg.basecfg.acc = 300;
cfg.basecfg.dec = 300;
cfg.basecfg.breakdec = 1600;
cfg.basecfg.maxspeed = 800;
cfg.basecfg.min_x = 0;
cfg.basecfg.max_x = 0;
cfg.basecfg.min_y = 0;
cfg.basecfg.max_y = 0;
cfg.basecfg.run_to_zero_max_d = 10000 * 100;
cfg.basecfg.run_to_zero_speed = 200;
cfg.basecfg.run_to_zero_dec = 1600;
cfg.basecfg.look_zero_edge_max_d = 10000 * 3;
cfg.basecfg.look_zero_edge_speed = 10;
cfg.basecfg.look_zero_edge_dec = 1600;
// cfg.basecfg.run_to_zero_max_d = 10000 * 100;
// cfg.basecfg.leave_from_zero_max_d = 3 * 10000;
// cfg.basecfg.run_to_zero_speed = 300;
// cfg.basecfg.run_to_zero_dec = 1600;
return;
}
int32_t XYRobotCtrlModule::set_base_param(const base_param_t& inparam) {
zlock_guard lock(m_lock);
m_cfg.robot_type = inparam.robot_type;
m_cfg.x_shaft = inparam.x_shaft;
m_cfg.y_shaft = inparam.y_shaft;
m_cfg.ihold = inparam.ihold;
m_cfg.irun = inparam.irun;
m_cfg.iholddelay = inparam.iholddelay;
m_cfg.distance_scale = inparam.distance_scale;
m_cfg.shift_x = inparam.shift_x;
m_cfg.shift_y = inparam.shift_y;
m_cfg.acc = inparam.acc;
m_cfg.dec = inparam.dec;
m_cfg.breakdec = inparam.breakdec;
m_cfg.maxspeed = inparam.maxspeed;
m_cfg.min_x = inparam.min_x;
m_cfg.max_x = inparam.max_x;
m_cfg.min_y = inparam.min_y;
m_cfg.max_y = inparam.max_y;
m_cfg.run_to_zero_max_d = inparam.run_to_zero_max_d;
m_cfg.leave_from_zero_max_d = inparam.leave_from_zero_max_d;
m_cfg.run_to_zero_speed = inparam.run_to_zero_speed;
m_cfg.run_to_zero_dec = inparam.run_to_zero_dec;
m_basecfg = inparam;
active_cfg();
return 0;
};
void XYRobotCtrlModule::active_cfg() {
m_stepM1->setScale(m_cfg.distance_scale);
m_stepM2->setScale(m_cfg.distance_scale);
m_stepM1->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
m_stepM2->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
m_stepM1->setScale(m_basecfg.distance_scale);
m_stepM2->setScale(m_basecfg.distance_scale);
m_stepM1->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
m_stepM2->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
}
int32_t XYRobotCtrlModule::get_base_param(base_param_t& ack) {
zlock_guard lock(m_lock);
ack.robot_type = m_cfg.robot_type;
ack.x_shaft = m_cfg.x_shaft;
ack.y_shaft = m_cfg.y_shaft;
ack.ihold = m_cfg.ihold;
ack.irun = m_cfg.irun;
ack.iholddelay = m_cfg.iholddelay;
ack.distance_scale = m_cfg.distance_scale;
ack.shift_x = m_cfg.shift_x;
ack.shift_y = m_cfg.shift_y;
ack.acc = m_cfg.acc;
ack.dec = m_cfg.dec;
ack.breakdec = m_cfg.breakdec;
ack.maxspeed = m_cfg.maxspeed;
ack.min_x = m_cfg.min_x;
ack.max_x = m_cfg.max_x;
ack.min_y = m_cfg.min_y;
ack.max_y = m_cfg.max_y;
ack.run_to_zero_max_d = m_cfg.run_to_zero_max_d;
ack.leave_from_zero_max_d = m_cfg.leave_from_zero_max_d;
ack.run_to_zero_speed = m_cfg.run_to_zero_speed;
ack.run_to_zero_dec = m_cfg.run_to_zero_dec;
ack = m_basecfg;
return 0;
};
@ -398,104 +364,103 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task(int32_t& dx, int32_t& dy) {
int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
/*******************************************************************************
* 远离X零点 *
* 移动导零点 *
*******************************************************************************/
if (m_Xgpio->getState()) {
/**
* @brief 如果设备已经在零点，则反向移动一定距离远离零点
*/
_motor_move_by(m_cfg.leave_from_zero_max_d, 0, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.run_to_zero_dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
if (!m_Xgpio->getState()) {
_motor_move_by(-m_basecfg.run_to_zero_max_d, 0, m_basecfg.run_to_zero_speed, m_basecfg.acc, m_basecfg.run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
if (m_Xgpio->getState()) {
xreach_zero = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
return err::kce_break_by_user;
}
if (m_Xgpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
if (!xreach_zero) {
ZLOGE(TAG, "find zero point fail");
return err::kce_x_leave_away_zero_point_fail;
}
}
/*******************************************************************************
* 移动X轴到零点 *
*******************************************************************************/
_motor_move_by(-m_cfg.run_to_zero_max_d, 0, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
if (m_Xgpio->getState()) {
xreach_zero = true;
_motor_stop(-1);
break;
if (m_Xgpio->getState()) {
_motor_move_by(m_basecfg.look_zero_edge_max_d, 0, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
bool xleave_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
if (m_Xgpio->getState()) {
xleave_zero = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
vTaskDelay(1);
}
if (!xreach_zero) {
// 触发异常回调
ZLOGE(TAG, "x reach zero failed");
return err::kce_not_found_x_zero_point;
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kce_break_by_user;
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
if (!xleave_zero) {
ZLOGI(TAG, "leave away zero failed");
return err::kce_x_leave_away_zero_point_fail;
}
}
ZLOGI(TAG, "x reach zero");
/*******************************************************************************
* 远离Y零点 *
* 移动Y轴到零点 *
*******************************************************************************/
if (m_Ygpio->getState()) {
/**
* @brief 如果设备已经在零点，则反向移动一定距离远离零点
*/
_motor_move_by(0, m_cfg.leave_from_zero_max_d, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
if (!m_Ygpio->getState()) {
_motor_move_by(0, -m_basecfg.run_to_zero_max_d, m_basecfg.run_to_zero_speed, m_basecfg.acc, m_basecfg.run_to_zero_dec);
bool yreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "ygpio %d", m_Ygpio->getState());
if (m_Ygpio->getState()) {
yreach_zero = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
return err::kce_break_by_user;
}
if (m_Ygpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
if (!yreach_zero) {
ZLOGE(TAG, "find zero point fail");
return err::kce_y_leave_away_zero_point_fail;
}
}
/*******************************************************************************
* 移动Y轴到零点 *
*******************************************************************************/
_motor_move_by(0, -m_cfg.run_to_zero_max_d, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.run_to_zero_dec);
bool yreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "ygpio %d", m_Ygpio->getState());
if (m_Ygpio->getState()) {
yreach_zero = true;
_motor_stop(-1);
break;
if (m_Ygpio->getState()) {
_motor_move_by(0, m_basecfg.look_zero_edge_max_d, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
bool yleave_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
if (m_Ygpio->getState()) {
yleave_zero = true;
_motor_stop(-1);
break;
}
vTaskDelay(1);
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kce_break_by_user;
}
if (!yleave_zero) {
ZLOGI(TAG, "leave away zero failed");
return err::kce_y_leave_away_zero_point_fail;
}
vTaskDelay(1);
}
if (!yreach_zero) {
// 触发异常回调
ZLOGE(TAG, "y reach zero failed");
return err::kce_not_found_y_zero_point;
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;
}
ZLOGI(TAG, "y reach zero");
ZLOGI(TAG, "move_to_zero success");
return 0;
}
@ -553,27 +518,27 @@ void XYRobotCtrlModule::_motor_stop(int32_t dec) {
m_stepM2->stop();
}
void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t& x, int32_t& y) {
if (m_cfg.robot_type == corexy) {
if (m_basecfg.robot_type == corexy) {
x = (m1pos - m2pos);
y = (m1pos + m2pos);
} else {
x = m1pos + m2pos;
y = m1pos - m2pos;
}
if (m_cfg.x_shaft) x = -x;
if (m_cfg.y_shaft) y = -y;
if (m_basecfg.x_shaft) x = -x;
if (m_basecfg.y_shaft) y = -y;
x += m_zero_shift_x;
y += m_zero_shift_y;
x += m_basecfg.shift_x;
y += m_basecfg.shift_y;
}
void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos, int32_t& m2pos) {
if (m_cfg.x_shaft) x = -x;
if (m_cfg.y_shaft) y = -y;
if (m_basecfg.x_shaft) x = -x;
if (m_basecfg.y_shaft) y = -y;
x -= m_zero_shift_x;
y -= m_zero_shift_y;
x -= m_basecfg.shift_x;
y -= m_basecfg.shift_y;
if (m_cfg.robot_type == corexy) {
if (m_basecfg.robot_type == corexy) {
m1pos = ((x + y) / 2);
m2pos = ((y - x) / 2);
} else {
@ -588,27 +553,29 @@ void XYRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) {
if (cb) cb(status);
}
void XYRobotCtrlModule::dumpcfg() {
ZLOGI(TAG, "robot_type :%d", m_cfg.robot_type);
ZLOGI(TAG, "x_shaft :%d", m_cfg.x_shaft);
ZLOGI(TAG, "y_shaft :%d", m_cfg.y_shaft);
ZLOGI(TAG, "ihold :%d", m_cfg.ihold);
ZLOGI(TAG, "irun :%d", m_cfg.irun);
ZLOGI(TAG, "iholddelay :%d", m_cfg.iholddelay);
ZLOGI(TAG, "distance_scale :%d", m_cfg.distance_scale);
ZLOGI(TAG, "shift_x :%d", m_cfg.shift_x);
ZLOGI(TAG, "shift_y :%d", m_cfg.shift_y);
ZLOGI(TAG, "acc :%d", m_cfg.acc);
ZLOGI(TAG, "dec :%d", m_cfg.dec);
ZLOGI(TAG, "breakdec :%d", m_cfg.breakdec);
ZLOGI(TAG, "maxspeed :%d", m_cfg.maxspeed);
ZLOGI(TAG, "min_x :%d", m_cfg.min_x);
ZLOGI(TAG, "max_x :%d", m_cfg.max_x);
ZLOGI(TAG, "min_y :%d", m_cfg.min_y);
ZLOGI(TAG, "max_y :%d", m_cfg.max_y);
ZLOGI(TAG, "run_to_zero_max_d :%d", m_cfg.run_to_zero_max_d);
ZLOGI(TAG, "leave_from_zero_max_d :%d", m_cfg.leave_from_zero_max_d);
ZLOGI(TAG, "run_to_zero_speed :%d", m_cfg.run_to_zero_speed);
ZLOGI(TAG, "run_to_zero_dec :%d", m_cfg.run_to_zero_dec);
ZLOGI(TAG, "robot_type :%d", m_basecfg.robot_type);
ZLOGI(TAG, "x_shaft :%d", m_basecfg.x_shaft);
ZLOGI(TAG, "y_shaft :%d", m_basecfg.y_shaft);
ZLOGI(TAG, "ihold :%d", m_basecfg.ihold);
ZLOGI(TAG, "irun :%d", m_basecfg.irun);
ZLOGI(TAG, "iholddelay :%d", m_basecfg.iholddelay);
ZLOGI(TAG, "distance_scale :%d", m_basecfg.distance_scale);
ZLOGI(TAG, "shift_x :%d", m_basecfg.shift_x);
ZLOGI(TAG, "shift_y :%d", m_basecfg.shift_y);
ZLOGI(TAG, "acc :%d", m_basecfg.acc);
ZLOGI(TAG, "dec :%d", m_basecfg.dec);
ZLOGI(TAG, "breakdec :%d", m_basecfg.breakdec);
ZLOGI(TAG, "maxspeed :%d", m_basecfg.maxspeed);
ZLOGI(TAG, "min_x :%d", m_basecfg.min_x);
ZLOGI(TAG, "max_x :%d", m_basecfg.max_x);
ZLOGI(TAG, "min_y :%d", m_basecfg.min_y);
ZLOGI(TAG, "max_y :%d", m_basecfg.max_y);
ZLOGI(TAG, "run_to_zero_max_d :%d", m_basecfg.run_to_zero_max_d);
ZLOGI(TAG, "run_to_zero_speed :%d", m_basecfg.run_to_zero_speed);
ZLOGI(TAG, "run_to_zero_dec :%d", m_basecfg.run_to_zero_dec);
ZLOGI(TAG, "look_zero_edge_max_d :%d", m_basecfg.look_zero_edge_max_d);
ZLOGI(TAG, "look_zero_edge_speed :%d", m_basecfg.look_zero_edge_speed);
ZLOGI(TAG, "look_zero_edge_dec :%d", m_basecfg.look_zero_edge_dec);
}
int32_t XYRobotCtrlModule::flush() { //

5
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -27,11 +27,12 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
// base_param_t m_cfg;
int32_t m_zero_shift_x = 0;
int32_t m_zero_shift_y = 0;
// int32_t m_zero_shift_x = 0;
// int32_t m_zero_shift_y = 0;
const char* m_flashmark = nullptr;
flash_config_t m_cfg;
base_param_t& m_basecfg = m_cfg.basecfg;
zmutex m_lock;
// zmutex m_statu_lock;

16
components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp
View File

@ -31,14 +31,14 @@ static void cmd_dump_ack(I_XYRobotCtrlModule::status_t& ack) { //
ZLOGI(TAG, "status :%d", ack.status);
ZLOGI(TAG, "x :%d", ack.x);
ZLOGI(TAG, "y :%d", ack.y);
ZLOGI(TAG, "iostate :%d %d %d %d %d %d %d %d", BIT(ack.iostate,0), BIT(ack.iostate,1), BIT(ack.iostate,2), BIT(ack.iostate,3), BIT(ack.iostate,4), BIT(ack.iostate,5), BIT(ack.iostate,6), BIT(ack.iostate,7));
ZLOGI(TAG, "iostate :%d %d %d %d %d %d %d %d", BIT(ack.iostate, 0), BIT(ack.iostate, 1), BIT(ack.iostate, 2), BIT(ack.iostate, 3), BIT(ack.iostate, 4), BIT(ack.iostate, 5), BIT(ack.iostate, 6), BIT(ack.iostate, 7));
}
static void cmd_dump_ack(I_XYRobotCtrlModule::detailed_status_t& ack) { //
ZLOGI(TAG, "status :%d", ack.status);
ZLOGI(TAG, "x :%d", ack.x);
ZLOGI(TAG, "y :%d", ack.y);
ZLOGI(TAG, "iostate :%d %d %d %d %d %d %d %d", BIT(ack.iostate,0), BIT(ack.iostate,1), BIT(ack.iostate,2), BIT(ack.iostate,3), BIT(ack.iostate,4), BIT(ack.iostate,5), BIT(ack.iostate,6), BIT(ack.iostate,7));
ZLOGI(TAG, "iostate :%d %d %d %d %d %d %d %d", BIT(ack.iostate, 0), BIT(ack.iostate, 1), BIT(ack.iostate, 2), BIT(ack.iostate, 3), BIT(ack.iostate, 4), BIT(ack.iostate, 5), BIT(ack.iostate, 6), BIT(ack.iostate, 7));
}
static void cmd_dump_ack(I_XYRobotCtrlModule::base_param_t& ack) {
@ -60,9 +60,11 @@ static void cmd_dump_ack(I_XYRobotCtrlModule::base_param_t& ack) {
ZLOGI(TAG, " min_y :%d", ack.min_y);
ZLOGI(TAG, " max_y :%d", ack.max_y);
ZLOGI(TAG, " run_to_zero_max_d :%d", ack.run_to_zero_max_d);
ZLOGI(TAG, " leave_from_zero_max_d :%d", ack.leave_from_zero_max_d);
ZLOGI(TAG, " run_to_zero_speed :%d", ack.run_to_zero_speed);
ZLOGI(TAG, " run_to_zero_dec :%d", ack.run_to_zero_dec);
ZLOGI(TAG, " look_zero_edge_max_d :%d", ack.look_zero_edge_max_d);
ZLOGI(TAG, " look_zero_edge_speed :%d", ack.look_zero_edge_speed);
ZLOGI(TAG, " look_zero_edge_dec :%d", ack.look_zero_edge_dec);
}
void XYRobotScriptCmderModule::regmodule(int id, I_XYRobotCtrlModule* robot) {
@ -138,12 +140,16 @@ void XYRobotScriptCmderModule::regcmd() { //
status.max_y = paramVal;
} else if (streq(paramName, "run_to_zero_max_d")) {
status.run_to_zero_max_d = paramVal;
} else if (streq(paramName, "leave_from_zero_max_d")) {
status.leave_from_zero_max_d = paramVal;
} else if (streq(paramName, "run_to_zero_speed")) {
status.run_to_zero_speed = paramVal;
} else if (streq(paramName, "run_to_zero_dec")) {
status.run_to_zero_dec = paramVal;
} else if (streq(paramName, "look_zero_edge_max_d")) {
status.look_zero_edge_max_d = paramVal;
} else if (streq(paramName, "look_zero_edge_speed")) {
status.look_zero_edge_speed = paramVal;
} else if (streq(paramName, "look_zero_edge_dec")) {
status.look_zero_edge_dec = paramVal;
} else {
ZLOGE(TAG, "invalid param name:%s", paramName);
return (int32_t)err::kce_param_out_of_range;

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit 9f0c021c41d1d410ccea7cc8a3d3c80c767e854d
Subproject commit 66f198bd2f0f38fefbdba179b98317f3948e0c04
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