update

api/i_xyrobot_ctrl_module.hpp

@@ -73,11 +73,39 @@ class I_XYRobotCtrlModule {
     uint8_t pad;
   } warning_limit_param_t;
 
+  typedef struct {
+    s32 robot_type;
+    s32 x_shaft;
+    s32 y_shaft;
+    s32 ihold;
+    s32 irun;
+    s32 iholddelay;
+    s32 distance_scale;  // 0.001
+    s32 shift_x;
+    s32 shift_y;
+
+    // limit
+    s32 acc;
+    s32 dec;
+    s32 breakdec;
+    s32 maxspeed;
+    s32 min_x;
+    s32 max_x;
+    s32 min_y;
+    s32 max_y;
+
+    s32 run_to_zero_max_d;
+    s32 leave_from_zero_max_d;
+    s32 run_to_zero_speed;
+    s32 run_to_zero_dec;
+  } flash_config_t;
+
 #pragma pack()
 
  public:
   virtual int32_t move_to(int32_t x, int32_t y, int speed, action_cb_status_t status_cb)                 = 0;
-  virtual int32_t move_by(int32_t dx, int32_t dy, action_cb_status_t status_cb)                          = 0;
+  virtual int32_t move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb)               = 0;
+  virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb)      = 0;
   virtual int32_t move_to_zero(action_cb_status_t status_cb)                                             = 0;
   virtual int32_t move_to_zero_with_calibrate(int32_t nowx, int32_t nowxy, action_cb_status_t status_cb) = 0;
 
@@ -92,6 +120,9 @@ class I_XYRobotCtrlModule {
   virtual int32_t set_base_param(const base_param_t& param) = 0;
   virtual int32_t get_base_param(base_param_t& ack)         = 0;
 
+  virtual int32_t flush()         = 0;
+  virtual int32_t factory_reset() = 0;
+
   virtual ~I_XYRobotCtrlModule() {}
 };
 }  // namespace iflytop

zcancmder_protocol.hpp

@@ -34,13 +34,18 @@ typedef enum {
   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_force_change_current_pos    = CMDID(1006, 6),  // 强制修改当前位置
+  kcmd_xy_robot_ctrl_move_by_no_limit            = CMDID(1006, 7),  // 机器人相对移动，没有限制
+  // kcmd_xy_robot_ctrl_read_pos_by_move2zero       = CMDID(1006, 8),  // 机器人先执行归零动作，然后读取位置偏差，计算出来时候的坐标，然后再移动回一开始的位置。
 
   kcmd_xy_robot_ctrl_read_version         = CMDID(1006, 50),  // 读取模块型号版本信息
   kcmd_xy_robot_ctrl_read_status          = CMDID(1006, 51),  // 读取模块精简状态信息
   kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52),  // 读取模块详细状态信息
+  // kcmd_xy_robot_ctrl_read_read_pos_by_move2zero_exec_state = CMDID(1006, 53),  // 机器人先执行归零动作，然后读取位置偏差，计算出来时候的坐标，然后再移动回一开始的位置。
 
   kcmd_xy_robot_ctrl_set_base_param = CMDID(1006, 100),  // 设置运行参数
   kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101),  // 设置运行参数
+  kcmd_xy_robot_ctrl_flush          = CMDID(1006, 110),  // 存储参数到flash中
+  kcmd_xy_robot_ctrl_factory_reset  = CMDID(1006, 111),  // 恢复出厂设置
   // kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101),  // 设置控制限制参数
   // kcmd_xy_robot_ctrl_set_run_to_zero_param   = CMDID(1006, 102),  // 设置归零参数
 
@@ -199,6 +204,8 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u16 id;), ACK(u8
 ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(int32_t exec_status;));
 ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u16 id; s32 x; s32 y; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
 ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by_no_limit, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;));
+
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u8 pad;));
 // READ
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u16 id;), ACK(I_XYRobotCtrlModule::version_t ack;));
@@ -207,6 +214,10 @@ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_XYR
 // SET
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u16 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u8 pad;));
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u16 id;), ACK(I_XYRobotCtrlModule::base_param_t ack;));
+
+ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_flush, CMD(u16 id;), ACK(u8 pad;));
+ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_factory_reset, CMD(u16 id;), ACK(u8 pad;));
+
 // ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK( I_XYRobotCtrlModule::warning_limit_param_t ack;));
 // ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::run_to_zero_param_t param;), ACK( I_XYRobotCtrlModule::run_to_zero_param_t ack;));