diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index 986dbcf..ffe4383 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp @@ -87,16 +87,16 @@ int32_t StepMotorCtrlModule::_move_to(int32_t tox, action_cb_status_t status_cb) m_thread.stop(); m_status_cb = status_cb; - if (m_param.min_x != 0 && tox < m_param.min_x) { - tox = m_param.min_x; + if (m_param.min_d != 0 && tox < m_param.min_d) { + tox = m_param.min_d; } - if (m_param.max_x != 0 && tox > m_param.max_x) { - tox = m_param.max_x; + if (m_param.max_d != 0 && tox > m_param.max_d) { + tox = m_param.max_d; } m_thread.start( [this, tox, status_cb]() { - _motor_move_to(tox, m_default_speed, m_param.acc, m_param.dec); + _motor_move_to(tox, m_default_speed, m_param.motor_default_acc, m_param.motor_default_dec); while (!_motor_is_reach_target()) { if (m_thread.getExitFlag()) break; vTaskDelay(10); @@ -124,28 +124,28 @@ int32_t StepMotorCtrlModule::_move_by(int32_t dx, action_cb_status_t status_cb) } int32_t StepMotorCtrlModule::move_to(int32_t x, int32_t velocity, action_cb_status_t status_cb) { - if (m_default_speed > m_param.maxspeed) { - ZLOGW(TAG, "m%d default speed:%d > m_cfg_max_speed:%d", m_id, m_default_speed, m_param.maxspeed); - m_default_speed = m_param.maxspeed; + if (m_default_speed > m_param.motor_default_velocity) { + ZLOGW(TAG, "m%d default speed:%d > m_cfg_max_speed:%d", m_id, m_default_speed, m_param.motor_default_velocity); + m_default_speed = m_param.motor_default_velocity; } if (velocity != 0) m_default_speed = velocity; return move_to(x, status_cb); } int32_t StepMotorCtrlModule::move_by(int32_t dx, int32_t velocity, action_cb_status_t status_cb) { - if (m_default_speed > m_param.maxspeed) { - ZLOGW(TAG, "m%d default speed:%d > m_cfg_max_speed:%d", m_id, m_default_speed, m_param.maxspeed); - m_default_speed = m_param.maxspeed; + if (m_default_speed > m_param.motor_default_velocity) { + ZLOGW(TAG, "m%d default speed:%d > m_cfg_max_speed:%d", m_id, m_default_speed, m_param.motor_default_velocity); + m_default_speed = m_param.motor_default_velocity; } if (velocity != 0) m_default_speed = velocity; return move_by(dx, status_cb); } int32_t StepMotorCtrlModule::move_to(int32_t tox, action_cb_status_t status_cb) { - m_default_speed = m_param.maxspeed; + m_default_speed = m_param.motor_default_velocity; return _move_to(tox, status_cb); } int32_t StepMotorCtrlModule::move_by(int32_t dx, action_cb_status_t status_cb) { - m_default_speed = m_param.maxspeed; + m_default_speed = m_param.motor_default_velocity; return _move_by(dx, status_cb); } @@ -160,7 +160,7 @@ int32_t StepMotorCtrlModule::calculate_curpos(action_cb_status_t status_cb) { // int32_t dx; int32_t erro = exec_move_to_zero_task(dx); - int xstart = dx + m_param.shift_x; + int xstart = dx + m_param.motor_shift; m_calculate_curpos_result = xstart; call_exec_status_cb(erro, status_cb); }, @@ -212,8 +212,8 @@ int32_t StepMotorCtrlModule::move_to_zero_with_calibrate(int32_t nowx, action_cb } int32_t calibrate_x; - calibrate_x = dx + nowx; - m_param.shift_x = calibrate_x; + calibrate_x = dx + nowx; + m_param.motor_shift = calibrate_x; m_stepM1->setXACTUAL(0); call_exec_status_cb(erro, status_cb); @@ -247,21 +247,21 @@ int32_t StepMotorCtrlModule::force_change_current_pos(int32_t xpos) { } int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) { // zlock_guard l(m_lock); - ZLOGI(TAG, "rotate speed:%d lastforms:%d acc:%d dec:%d", speed, lastforms, m_param.acc, m_param.dec); + ZLOGI(TAG, "rotate speed:%d lastforms:%d acc:%d dec:%d", speed, lastforms, m_param.motor_default_acc, m_param.motor_default_dec); if (lastforms < 0) { ZLOGW(TAG, "lastforms:%d < 0", lastforms); return err::kparam_out_of_range; } - if (m_param.maxspeed != 0 && abs(speed) > m_param.maxspeed) { - ZLOGW(TAG, "speed:%d > m_cfg_max_speed:%d", speed, m_param.maxspeed); - speed = m_param.maxspeed; + if (m_param.motor_default_velocity != 0 && abs(speed) > m_param.motor_default_velocity) { + ZLOGW(TAG, "speed:%d > m_cfg_max_speed:%d", speed, m_param.motor_default_velocity); + speed = m_param.motor_default_velocity; } m_thread.stop(); m_thread.start([this, lastforms, speed, status_cb]() { - ZLOGI(TAG, "(in work thread)rotate speed:%d lastforms:%d acc:%d dec:%d", speed, lastforms, m_param.acc, m_param.dec); - _rotate(speed, m_param.acc, m_param.dec); + ZLOGI(TAG, "(in work thread)rotate speed:%d lastforms:%d acc:%d dec:%d", speed, lastforms, m_param.motor_default_acc, m_param.motor_default_dec); + _rotate(speed, m_param.motor_default_acc, m_param.motor_default_dec); int32_t startticket = zos_get_tick(); // bool reachtime = false; @@ -312,17 +312,17 @@ int32_t StepMotorCtrlModule::set_base_param(const base_param_t& param) { m_param = param; active_cfg(); ZLOGI(TAG, "=========== base param ============"); - ZLOGI(TAG, "= x_shaft :%d", m_param.x_shaft); - ZLOGI(TAG, "= distance_scale :%f", m_param.distance_scale); - ZLOGI(TAG, "= ihold :%d", m_param.ihold); - ZLOGI(TAG, "= irun :%d", m_param.irun); - ZLOGI(TAG, "= iholddelay :%d", m_param.iholddelay); - ZLOGI(TAG, "= acc :%d", m_param.acc); - ZLOGI(TAG, "= dec :%d", m_param.dec); - ZLOGI(TAG, "= maxspeed :%d", m_param.maxspeed); - ZLOGI(TAG, "= min_x :%d", m_param.min_x); - ZLOGI(TAG, "= max_x :%d", m_param.max_x); - ZLOGI(TAG, "= shift_x :%d", m_param.shift_x); + ZLOGI(TAG, "= x_shaft :%d", m_param.motor_shaft); + ZLOGI(TAG, "= distance_scale :%f", m_param.motor_one_circle_pulse); + ZLOGI(TAG, "= ihold :%d", m_param.stepmotor_ihold); + ZLOGI(TAG, "= irun :%d", m_param.stepmotor_irun); + ZLOGI(TAG, "= iholddelay :%d", m_param.stepmotor_iholddelay); + ZLOGI(TAG, "= acc :%d", m_param.motor_default_acc); + ZLOGI(TAG, "= dec :%d", m_param.motor_default_dec); + ZLOGI(TAG, "= maxspeed :%d", m_param.motor_default_velocity); + ZLOGI(TAG, "= min_x :%d", m_param.min_d); + ZLOGI(TAG, "= max_x :%d", m_param.max_d); + ZLOGI(TAG, "= motor_shift :%d", m_param.motor_shift); #if 0 s32 run_to_zero_max_d; @@ -333,12 +333,12 @@ int32_t StepMotorCtrlModule::set_base_param(const base_param_t& param) { s32 look_zero_edge_speed; s32 look_zero_edge_dec; #endif - ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_max_d); - ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.run_to_zero_speed); - ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.run_to_zero_dec); - ZLOGI(TAG, "= look_zero_edge_max_d :%d", m_param.look_zero_edge_max_d); - ZLOGI(TAG, "= look_zero_edge_speed :%d", m_param.look_zero_edge_speed); - ZLOGI(TAG, "= look_zero_edge_dec :%d", m_param.look_zero_edge_dec); + ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.motor_run_to_zero_max_d); + ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.motor_run_to_zero_speed); + ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.motor_run_to_zero_dec); + ZLOGI(TAG, "= look_zero_edge_max_d :%d", m_param.motor_look_zero_edge_max_d); + ZLOGI(TAG, "= look_zero_edge_speed :%d", m_param.motor_look_zero_edge_speed); + ZLOGI(TAG, "= look_zero_edge_dec :%d", m_param.motor_look_zero_edge_dec); // ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_move_to_zero_max_d); // ZLOGI(TAG, "= leave_from_zero_max_d :%d", m_param.run_to_zero_leave_from_zero_max_d); @@ -386,7 +386,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() { if (!m_Xgpio->getState()) { { ZLOGI(TAG, "---------STEP1-------- move to zero first"); - _rotate(-m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec); + _rotate(-m_param.motor_run_to_zero_speed, m_param.motor_default_acc, m_param.motor_run_to_zero_dec); bool xreach_zero = false; while (!m_thread.getExitFlag()) { // ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget()); @@ -420,7 +420,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() { * @brief 如果设备已经在零点，则反向移动一定距离远离零点 */ if (m_Xgpio->getState()) { - _rotate(m_param.look_zero_edge_speed, m_param.acc, m_param.look_zero_edge_dec); + _rotate(m_param.motor_look_zero_edge_speed, m_param.motor_default_acc, m_param.motor_look_zero_edge_dec); while (true) { if (m_thread.getExitFlag()) break; if (!m_Xgpio->getState()) { @@ -496,12 +496,12 @@ void StepMotorCtrlModule::_motor_stop(int32_t dec) { } bool StepMotorCtrlModule::_motor_is_reach_target() { return m_stepM1->isReachTarget(); } void StepMotorCtrlModule::inverse_kinematics(int32_t motor_pos, int32_t& x) { - // m_zero_shift_x + // m_zero_motor_shift x = motor_pos; - x += m_param.shift_x; + x += m_param.motor_shift; } void StepMotorCtrlModule::forward_kinematics(int32_t x, int32_t& motor_pos) { - x -= m_param.shift_x; + x -= m_param.motor_shift; motor_pos = x; } #if 0 @@ -577,22 +577,22 @@ void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t } void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) { memset(&cfg, 0, sizeof(cfg)); - cfg.base_param.distance_scale = 10000; - cfg.base_param.distance_scale_denominator = 1; - cfg.base_param.ihold = 1; - cfg.base_param.irun = 3; - cfg.base_param.iholddelay = 100; - cfg.base_param.acc = 300; - cfg.base_param.dec = 300; - cfg.base_param.maxspeed = 500; + cfg.base_param.motor_one_circle_pulse = 10000; + cfg.base_param.motor_one_circle_pulse_denominator = 1; + cfg.base_param.stepmotor_ihold = 1; + cfg.base_param.stepmotor_irun = 3; + cfg.base_param.stepmotor_iholddelay = 100; + cfg.base_param.motor_default_acc = 300; + cfg.base_param.motor_default_dec = 300; + cfg.base_param.motor_default_velocity = 500; - cfg.base_param.run_to_zero_max_d = 10000 * 100; - cfg.base_param.run_to_zero_speed = 100; - cfg.base_param.run_to_zero_dec = 600; + cfg.base_param.motor_run_to_zero_max_d = 10000 * 100; + cfg.base_param.motor_run_to_zero_speed = 100; + cfg.base_param.motor_run_to_zero_dec = 600; - cfg.base_param.look_zero_edge_max_d = 10000 * 5; - cfg.base_param.look_zero_edge_speed = 100; - cfg.base_param.look_zero_edge_dec = 600; + cfg.base_param.motor_look_zero_edge_max_d = 10000 * 5; + cfg.base_param.motor_look_zero_edge_speed = 100; + cfg.base_param.motor_look_zero_edge_dec = 600; } int32_t StepMotorCtrlModule::flush() { @@ -615,10 +615,10 @@ int32_t StepMotorCtrlModule::factory_reset() { return 0; } void StepMotorCtrlModule::active_cfg() { - m_stepM1->setIHOLD_IRUN(m_param.ihold, m_param.irun, m_param.iholddelay); - m_stepM1->setScale(m_param.distance_scale); - m_stepM1->setScaleDenominator(m_param.distance_scale_denominator); - m_stepM1->setMotorShaft(m_param.x_shaft); + m_stepM1->setIHOLD_IRUN(m_param.stepmotor_ihold, m_param.stepmotor_irun, m_param.stepmotor_iholddelay); + m_stepM1->setScale(m_param.motor_one_circle_pulse); + m_stepM1->setScaleDenominator(m_param.motor_one_circle_pulse_denominator); + m_stepM1->setMotorShaft(m_param.motor_shaft); } int32_t StepMotorCtrlModule::getid(int32_t* id) { @@ -679,7 +679,7 @@ int32_t StepMotorCtrlModule::module_get_error(int32_t* iserror) { #if 0 int32_t StepMotorCtrlModule::module_set_reg(int32_t param_id, int32_t val) { switch (param_id) { - SET_REG(kreg_motor_shift, m_param.shift_x); + SET_REG(kreg_motor_shift, m_param.motor_shift); SET_REG(kreg_motor_shaft, m_param.x_shaft); SET_REG(kreg_motor_one_circle_pulse, m_param.distance_scale); SET_REG(kreg_motor_one_circle_pulse_denominator, m_param.distance_scale_denominator); @@ -706,7 +706,7 @@ int32_t StepMotorCtrlModule::module_get_reg(int32_t param_id, int32_t* val) { read_pos(nowpos); switch (param_id) { - GET_REG(kreg_motor_shift, m_param.shift_x); + GET_REG(kreg_motor_shift, m_param.motor_shift); GET_REG(kreg_motor_shaft, m_param.x_shaft); GET_REG(kreg_motor_one_circle_pulse, m_param.distance_scale); GET_REG(kreg_motor_one_circle_pulse_denominator, m_param.distance_scale_denominator); @@ -743,32 +743,33 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t switch (param_id) { MODULE_COMMON_PROCESS_REG_CB(); PROCESS_REG(kreg_robot_pos, read_pos(val), ACTION_NONE); - PROCESS_REG(kreg_motor_shift, REG_GET(m_param.shift_x), REG_SET(m_param.shift_x)); - PROCESS_REG(kreg_motor_shaft, REG_GET(m_param.x_shaft), REG_SET(m_param.x_shaft)); - PROCESS_REG(kreg_motor_one_circle_pulse, REG_GET(m_param.distance_scale), REG_SET(m_param.distance_scale)); - PROCESS_REG(kreg_motor_one_circle_pulse_denominator, REG_GET(m_param.distance_scale_denominator), REG_SET(m_param.distance_scale_denominator)); - PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_param.maxspeed), REG_SET(m_param.maxspeed)); - PROCESS_REG(kreg_motor_default_acc, REG_GET(m_param.acc), REG_SET(m_param.acc)); - PROCESS_REG(kreg_motor_default_dec, REG_GET(m_param.dec), REG_SET(m_param.dec)); - PROCESS_REG(kreg_motor_run_to_zero_max_d, REG_GET(m_param.run_to_zero_max_d), REG_SET(m_param.run_to_zero_max_d)); - PROCESS_REG(kreg_motor_look_zero_edge_max_d, REG_GET(m_param.look_zero_edge_max_d), REG_SET(m_param.look_zero_edge_max_d)); - PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_param.run_to_zero_speed), REG_SET(m_param.run_to_zero_speed)); - PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_param.run_to_zero_dec), REG_SET(m_param.run_to_zero_dec)); - PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_param.look_zero_edge_speed), REG_SET(m_param.look_zero_edge_speed)); - PROCESS_REG(kreg_motor_look_zero_edge_dec, REG_GET(m_param.look_zero_edge_dec), REG_SET(m_param.look_zero_edge_dec)); - PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_param.ihold), REG_SET(m_param.ihold)); - PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_param.irun), REG_SET(m_param.irun)); - PROCESS_REG(kreg_stepmotor_iholddelay, REG_GET(m_param.iholddelay), REG_SET(m_param.iholddelay)); + PROCESS_REG(kreg_motor_shift, REG_GET(m_param.motor_shift), REG_SET(m_param.motor_shift)); + PROCESS_REG(kreg_motor_shaft, REG_GET(m_param.motor_shaft), REG_SET(m_param.motor_shaft)); + PROCESS_REG(kreg_motor_one_circle_pulse, REG_GET(m_param.motor_one_circle_pulse), REG_SET(m_param.motor_one_circle_pulse)); + PROCESS_REG(kreg_motor_one_circle_pulse_denominator, REG_GET(m_param.motor_one_circle_pulse_denominator), REG_SET(m_param.motor_one_circle_pulse_denominator)); + PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_param.motor_default_velocity), REG_SET(m_param.motor_default_velocity)); + PROCESS_REG(kreg_motor_default_acc, REG_GET(m_param.motor_default_acc), REG_SET(m_param.motor_default_acc)); + PROCESS_REG(kreg_motor_default_dec, REG_GET(m_param.motor_default_dec), REG_SET(m_param.motor_default_dec)); + PROCESS_REG(kreg_motor_run_to_zero_max_d, REG_GET(m_param.motor_run_to_zero_max_d), REG_SET(m_param.motor_run_to_zero_max_d)); + PROCESS_REG(kreg_motor_look_zero_edge_max_d, REG_GET(m_param.motor_look_zero_edge_max_d), REG_SET(m_param.motor_look_zero_edge_max_d)); + PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_param.motor_run_to_zero_speed), REG_SET(m_param.motor_run_to_zero_speed)); + PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_param.motor_run_to_zero_dec), REG_SET(m_param.motor_run_to_zero_dec)); + PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_param.motor_look_zero_edge_speed), REG_SET(m_param.motor_look_zero_edge_speed)); + PROCESS_REG(kreg_motor_look_zero_edge_dec, REG_GET(m_param.motor_look_zero_edge_dec), REG_SET(m_param.motor_look_zero_edge_dec)); + PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_param.stepmotor_ihold), REG_SET(m_param.stepmotor_ihold)); + PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_param.stepmotor_irun), REG_SET(m_param.stepmotor_irun)); + PROCESS_REG(kreg_stepmotor_iholddelay, REG_GET(m_param.stepmotor_iholddelay), REG_SET(m_param.stepmotor_iholddelay)); + PROCESS_REG(kreg_motor_max_d, REG_GET(m_param.max_d), REG_SET(m_param.max_d)); + PROCESS_REG(kreg_motor_min_d, REG_GET(m_param.min_d), REG_SET(m_param.min_d)); PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE); + default: return err::kmodule_not_find_config_index; break; } return 0; } -int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { - return 0; -} +int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { return 0; } int32_t StepMotorCtrlModule::module_clear_error() { return 0; } @@ -810,7 +811,7 @@ int32_t StepMotorCtrlModule::motor_rotate(int32_t direction, int32_t motor_veloc m_status_cb = nullptr; m_thread.stop(); if (acc == 0) { - acc = m_param.acc; + acc = m_param.motor_default_acc; } _rotate(direction * motor_velocity, acc, acc); return 0; @@ -828,18 +829,18 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity, m_status_cb = nullptr; m_thread.stop(); - if (m_param.min_x != 0 && tox < m_param.min_x) { - tox = m_param.min_x; + if (m_param.min_d != 0 && tox < m_param.min_d) { + tox = m_param.min_d; } - if (m_param.max_x != 0 && tox > m_param.max_x) { - tox = m_param.max_x; + if (m_param.max_d != 0 && tox > m_param.max_d) { + tox = m_param.max_d; } if (acc == 0) { - acc = m_param.acc; + acc = m_param.motor_default_acc; } if (motor_velocity == 0) { - motor_velocity = m_param.maxspeed; + motor_velocity = m_param.motor_default_velocity; } m_thread.start( @@ -865,14 +866,14 @@ int32_t StepMotorCtrlModule::motor_move_to_zero_forward(int32_t findzerospeed, i int32_t StepMotorCtrlModule::motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { ZLOGI(TAG, "motor_move_to_zero_backward"); if (findzerospeed != 0) { - m_param.run_to_zero_speed = findzerospeed; + m_param.motor_run_to_zero_speed = findzerospeed; } if (findzeroedge_speed != 0) { - m_param.look_zero_edge_speed = findzeroedge_speed; + m_param.motor_look_zero_edge_speed = findzeroedge_speed; } if (acc != 0) { - m_param.look_zero_edge_dec = acc; - m_param.run_to_zero_dec = acc; + m_param.motor_look_zero_edge_dec = acc; + m_param.motor_run_to_zero_dec = acc; } return move_to_zero(nullptr); } @@ -909,7 +910,7 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() { set_last_exec_status(erro); } else { m_com_reg.module_last_cmd_exec_status = erro; - set_last_exec_status(erro, -dx + m_param.shift_x); + set_last_exec_status(erro, -dx + m_param.motor_shift); m_stepM1->setXACTUAL(0); } }, @@ -922,7 +923,7 @@ int32_t StepMotorCtrlModule::motor_easy_rotate(int32_t direction) { ZLOGI(TAG, "m%d motor_easy_rotate %d", m_id, direction); m_status_cb = nullptr; m_thread.stop(); - _rotate(direction * m_param.maxspeed, m_param.acc, m_param.dec); + _rotate(direction * m_param.motor_default_velocity, m_param.motor_default_acc, m_param.motor_default_dec); return 0; }; @@ -931,14 +932,14 @@ int32_t StepMotorCtrlModule::motor_easy_move_by(int32_t distance) { ZLOGI(TAG, "m%d motor_easy_move_by %d", m_id, distance); m_status_cb = nullptr; m_thread.stop(); - return motor_move_by(distance, m_param.maxspeed, m_param.acc); + return motor_move_by(distance, m_param.motor_default_velocity, m_param.motor_default_acc); }; int32_t StepMotorCtrlModule::motor_easy_move_to(int32_t position) { zlock_guard lock(m_lock); ZLOGI(TAG, "m%d motor_easy_move_to %d", m_id, position); m_status_cb = nullptr; m_thread.stop(); - return motor_move_to(position, m_param.maxspeed, m_param.acc); + return motor_move_to(position, m_param.motor_default_velocity, m_param.motor_default_acc); }; int32_t StepMotorCtrlModule::motor_easy_move_to_zero(int32_t direction) { if (direction <= 0) { diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder index 6ae11da..5f57d15 160000 --- a/components/zprotocols/zcancmder +++ b/components/zprotocols/zcancmder @@ -1 +1 @@ -Subproject commit 6ae11da71aeb4cb0e959b9dabb66c50043d20d03 +Subproject commit 5f57d1520c908e86ea1db2f945eeda3bcec87f5d diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2 index 1273493..03d55df 160000 --- a/components/zprotocols/zcancmder_v2 +++ b/components/zprotocols/zcancmder_v2 @@ -1 +1 @@ -Subproject commit 1273493bdf1b6770b3cd31e52bfaf84d62ada9cd +Subproject commit 03d55dfe5a8b9fbe0a070211c071e00460e184d0