转到多少度指令添加测试完成

main/ble_parse_data.c

@@ -7,6 +7,7 @@
 #define cmd_length_set_position 5
 #define cmd_length_get_status 2
 #define cmd_length_set_motor_current_size 2
+#define cmd_length_set_motor_to_position 5
 static double encoder_befor_num;
 
 static bluetooth_processer_t *parse_bluetooth_processer;
@@ -37,19 +38,17 @@ void bluetooth_gatts_try_process_data() {
           parse_bluetooth_processer->auto_report_flag = true;
           ESP_LOGI(BLE_PARSE_DATA_TAG, set_position);
 
-          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");
-          //     }
-          //   }
-          // }
+          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();
         }
@@ -62,6 +61,12 @@ void bluetooth_gatts_try_process_data() {
           motor_drive_set_motor_current_size();
           // receipt_json_get_status();
         }
+        if (strcmp(parse_bluetooth_processer->order, set_motor_to_position) == 0) {
+          ESP_LOGI(BLE_PARSE_DATA_TAG, set_motor_to_position);
+          motor_drive_set_motor_to_angle(parse_bluetooth_processer->direction, parse_bluetooth_processer->position,  //
+                                         parse_bluetooth_processer->speedLevel);
+          // receipt_json_get_status();
+        }
       }
     }
 
@@ -121,6 +126,9 @@ bool parse_json_to_struct(cJSON *ch) {
       if (strcmp(ch->valuestring, set_motor_current_size) == 0) {
         cmd_length = cmd_length_set_motor_current_size;
       }
+      if (strcmp(ch->valuestring, set_motor_to_position) == 0) {
+        cmd_length = cmd_length_set_motor_to_position;
+      }
 
       cmd_length--;
     }

main/ble_parse_data.h

@@ -15,6 +15,7 @@
 #define set_position "setPosition"
 #define get_status "getStatus"
 #define set_motor_current_size "setMotorCurrentSize"
+#define set_motor_to_position "setMotorToPosition"
 
 typedef struct bluetooth_processer {
   char *bluetooth_processer_rx_buf;

main/motor_drive.c

@@ -278,9 +278,16 @@ void motor_drive_set_motor_to_angle(int rotation_direction, double position, int
   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;
+  // forward
+  if ((rotation_direction == 1)) {
+    buffer[5] = 0;
+    checksum += 0;
+  }
+
+  // reverse
+  if ((rotation_direction == 2)) {
+    buffer[5] = 1;
+    checksum += 1;
   }
 
   position_int = position * 100;
@@ -303,11 +310,6 @@ void motor_drive_set_motor_to_angle(int rotation_direction, double position, int
     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;