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转到多少度测试完成，准备编写转到多少度指令

devtest
zwsd 3 years ago
parent
a00d92f359
commit
c0786af13d
3 changed files with 87 additions and 80 deletions
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  1. 24
      main/ble_parse_data.c
  2. 141
      main/motor_drive.c
  3. 2
      main/motor_drive.h

24
main/ble_parse_data.c
View File

@ -37,17 +37,19 @@ void bluetooth_gatts_try_process_data() {
parse_bluetooth_processer->auto_report_flag = true;
ESP_LOGI(BLE_PARSE_DATA_TAG, set_position);
encoder_befor_num = motor_drive_read_encoder();
if (encoder_befor_num >= 0) {
if (motor_drive_set_packages_ctr(parse_bluetooth_processer->position, parse_bluetooth_processer->direction) == 0) {
ets_delay_us(50000);
if (encoder_befor_num == motor_drive_read_encoder()) {
ESP_LOGW(BLE_PARSE_DATA_TAG, "motor no turning");
} else {
ESP_LOGI(BLE_PARSE_DATA_TAG, "motor turning");
}
}
}
motor_drive_set_motor_to_angle(1,180,0);
// encoder_befor_num = motor_drive_read_encoder();
// if (encoder_befor_num >= 0) {
// if (motor_drive_set_packages_ctr(parse_bluetooth_processer->position, parse_bluetooth_processer->direction) == 0) {
// ets_delay_us(50000);
// if (encoder_befor_num == motor_drive_read_encoder()) {
// ESP_LOGW(BLE_PARSE_DATA_TAG, "motor no turning");
// } else {
// ESP_LOGI(BLE_PARSE_DATA_TAG, "motor turning");
// }
// }
// }
// receipt_json_set_position();
}

141
main/motor_drive.c
View File

@ -132,7 +132,7 @@ uint8_t motor_drive_set_packages_ctr(double position, int direction) {
buffer[9] = checksum;
}
}
// Send cmd
uart_flush(uart_num);
uart_write_bytes(uart_num, buffer, 10);
@ -269,70 +269,75 @@ double motor_drive_read_single_turn_angle() {
return ((double)turn_angle_data / 100.0);
}
// void motor_drive_set_motor_to_angle(uint8_t rotation_direction, double position, uint8_t speed_level) {
// int position_int = 0;
// uint8_t position_remainder = 0;
// uint8_t position_buffer_size = 6; //从第五位开始(低位)
// uint8_t checksum = 0;
// uint32_t limit_speed = 0;
// uint8_t buffer[14] = {0x3E, 0XA6, MOTOR_ID, 0X08, 0XED, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00};
// char *notify_err = "set size error";
// if ((rotation_direction == 0X00) || (rotation_direction == 0X01)) {
// buffer[5] = rotation_direction;
// checksum += rotation_direction;
// }
// position_int = position * 100;
// position_int = position_int % 36000;
// if (position_int != 0) {
// while ((position_int / 0XFF) > 0) {
// position_remainder = position_int & 0XFF;
// buffer[position_buffer_size] = position_remainder;
// position_buffer_size += 1;
// position_int = position_int >> 8;
// checksum += position_remainder;
// }
// buffer[position_buffer_size] = position_int;
// checksum += position_int;
// }
// if (speed_level <= 9) {
// limit_speed = speed_level * 360;
// position_buffer_size = 9;
// }
// while (limit_speed != 0) {
// while ((limit_speed / 0XFF) > 0) {
// position_remainder = limit_speed & 0XFF;
// buffer[position_buffer_size] = position_remainder;
// position_buffer_size += 1;
// limit_speed = limit_speed >> 8;
// checksum += position_remainder;
// }
// buffer[position_buffer_size] = limit_speed;
// checksum += limit_speed;
// }
// checksum = checksum & 0XFF;
// buffer[13] = checksum;
// Send cmd
// uart_flush(uart_num);
// uart_write_bytes(uart_num, buffer, 14);
// position_buffer_size = 0;
// memset(buffer, 0, sizeof(uint8_t) * 14);
// Wait uart receive,if time out return error and output log
// position_buffer_size = uart_read_bytes(uart_num, buffer, 13, uart_read_time_ms / portTICK_RATE_MS);
// if (position_buffer_size != 13 || buffer[0] != 0X3E) {
// ESP_LOGW(MOTOR_DRIVE, "set motor size error ,buffer_size:%d,buffer[0] = 0X%x", position_buffer_size, buffer[0]);
// bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
// }
// Parse receive
// motor_drive_buffer_cmd_parse(buffer);
// return;
// }
void motor_drive_set_motor_to_angle(int rotation_direction, double position, int speed_level) {
int position_int = 0;
uint8_t position_remainder = 0;
uint8_t position_buffer_size = 6; //从第五位开始(低位)
uint8_t checksum = 0;
uint32_t limit_speed = 0;
uint8_t buffer[14] = {0x3E, 0XA6, MOTOR_ID, 0X08, 0XED, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00};
char *notify_err = "set size error";
if ((rotation_direction >= 0) && (rotation_direction < 2)) {
buffer[5] = rotation_direction;
checksum += rotation_direction;
}
position_int = position * 100;
position_int = position_int % 36000;
if (position_int != 0) {
while ((position_int / 0X100) > 0) {
position_remainder = position_int & 0XFF;
buffer[position_buffer_size] = position_remainder;
position_buffer_size += 1;
position_int = position_int >> 8;
checksum += position_remainder;
}
buffer[position_buffer_size] = position_int;
checksum += position_int;
}
if (speed_level <= 9) {
limit_speed = speed_level * 360;
position_buffer_size = 9;
}
for (uint8_t i = 0; i < 14; i++) {
/* code */
ESP_LOGI(MOTOR_DRIVE, "buffer[%d] = %d", i, buffer[i]);
}
if (limit_speed != 0) {
while ((limit_speed / 0X100) > 0) {
position_remainder = limit_speed & 0XFF;
buffer[position_buffer_size] = position_remainder;
position_buffer_size += 1;
limit_speed = limit_speed >> 8;
checksum += position_remainder;
}
buffer[position_buffer_size] = limit_speed;
checksum += limit_speed;
}
checksum = checksum & 0XFF;
buffer[13] = checksum;
// Send cmd
uart_flush(uart_num);
uart_write_bytes(uart_num, buffer, 14);
position_buffer_size = 0;
memset(buffer, 0, sizeof(uint8_t) * 14);
// Wait uart receive, if time out return error and output log
position_buffer_size = uart_read_bytes(uart_num, buffer, 13, uart_read_time_ms / portTICK_RATE_MS);
if (position_buffer_size != 13 || buffer[0] != 0X3E) {
ESP_LOGW(MOTOR_DRIVE, "set motor size error ,buffer_size:%d,buffer[0] = 0X%x", position_buffer_size, buffer[0]);
bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
}
// Parse receive
motor_drive_buffer_cmd_parse(buffer);
return;
}

2
main/motor_drive.h
View File

@ -46,4 +46,4 @@ size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buf
void motor_drive_buffer_cmd_parse(uint8_t *buffer);
u_int8_t motor_drive_set_motor_current_size();
double motor_drive_read_single_turn_angle();
// void motor_drive_set_motor_to_angle(uint8_t rotation_direction, double position, uint8_t speed_level);
void motor_drive_set_motor_to_angle(int rotation_direction, double position, int speed_level);
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