zuniversal_hardware_driver
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iflytop_cancmder
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update

master
zhaohe 2 years ago
parent
9aaf45c0bf
commit
6b5501be0a
5 changed files with 392 additions and 317 deletions
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  1. 2
      sdk
  2. 4
      usrc/feite_servo_motor.cpp
  3. 348
      usrc/main.cpp
  4. 3
      usrc/main.hpp
  5. 352
      usrc/step_motor_cmd_reg.cpp

2
sdk

@ -1 +1 @@
Subproject commit 3307f7a4c801857b8cd9cab5abb290f88ffc3155
Subproject commit 2b35686d8d692c80c80bdbb6b7e4afa38d94f860

4
usrc/feite_servo_motor.cpp
View File

@ -17,11 +17,13 @@ using namespace feite;
}
static void dumphex(const char* tag, uint8_t* data, uint8_t len) {
#if 1
printf("%s:", tag);
for (int i = 0; i < len; i++) {
printf("%02x ", data[i]);
}
printf("\n");
#endif
}
void FeiTeServoMotor::initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) {
m_uart = uart;
@ -262,7 +264,7 @@ bool FeiTeServoMotor::write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbi
return write_u16(id, add, val);
}
bool FeiTeServoMotor::write_reg(uint8_t id, bool async, uint8_t add, uint8_t* data, uint8_t len) { //
ZLOGI(TAG, "write_reg id:%d add:%d len:%d", id, add, len);
// ZLOGI(TAG, "write_reg id:%d add:%d len:%d", id, add, len);
cmd_header_t* cmd_header = (cmd_header_t*)m_txbuf;
receipt_header_t* receipt_header = (receipt_header_t*)m_rxbuf;
cmd_header->header = 0xffff;

348
usrc/main.cpp
View File

@ -27,7 +27,7 @@ using namespace std;
return; \
}
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
void StartDefaultTask(void const* argument) { iflytop::gmain.run(); }
}
/*******************************************************************************
* 配置 *
@ -116,309 +116,21 @@ static StepMotor45::cfg_t cfg6 = {
.driverPinMirror = true,
};
map<int, float> screw_lead = {
{1, 10.0}, //
{2, 10.0}, //
{3, 10.0}, //
{4, 10.0}, //
{5, 10.0}, //
{6, 10.0}, //
};
/*******************************************************************************
* 代码 *
*******************************************************************************/
static StepMotor45 g_step_motor45[7];
StepMotor g_step_motor[10];
IflytopCanMaster m_IflytopCanMaster;
static CmdScheduler cmdScheduler;
namespace iflytop {
StepMotor45 g_step_motor45[7];
StepMotor g_step_motor[10];
IflytopCanMaster m_IflytopCanMaster;
CmdScheduler cmdScheduler;
ModbusBlockHost g_modbusblockhost;
Eq20ServoMotor g_eq20servomotor;
FeiTeServoMotor g_feiteservomotor;
bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distance) {
if (screw_lead.find(motorid) == screw_lead.end()) {
return false;
}
float lead = screw_lead[motorid];
*distance = distance_mm / lead * 51200;
return true;
}
} // namespace iflytop
void regfn() {
cmdScheduler.registerCmd("help", //
[](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { ZLOGI(TAG, "do_help"); });
cmdScheduler.registerCmd("reset_board", //
[](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { NVIC_SystemReset(); });
cmdScheduler.registerCmd("stepmotor45_wait_to_reach_pos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
while (true) {
if (g_step_motor45[motorid].isReachTargetPos()) {
break;
}
ZLOGI(TAG, "stepmotor45_wait_to_reach_pos %d", motorid);
osDelay(100);
}
});
cmdScheduler.registerCmd("stepmotor45_reset_pos_all", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(0);
g_step_motor45[1].setPos(0);
g_step_motor45[2].setPos(0);
g_step_motor45[3].setPos(0);
g_step_motor45[4].setPos(0);
g_step_motor45[5].setPos(0);
g_step_motor45[6].setPos(0);
});
// stepmotor45
cmdScheduler.registerCmd("stepmotor45_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int direction = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].rotate(direction);
});
cmdScheduler.registerCmd("stepmotor45_readPos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
ZLOGI(TAG, "motorid %d pos %d", motorid, g_step_motor45[motorid].getPos());
});
cmdScheduler.registerCmd("stepmotor45_moveTo", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int pos = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].moveTo(pos);
});
cmdScheduler.registerCmd("stepmotor45_moveBy", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int pos = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].moveBy(pos);
});
cmdScheduler.registerCmd("stepmotor45_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].stop();
});
cmdScheduler.registerCmd("stepmotor45_setSpeed", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int motorid = atoi(argv[1]);
int speed = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].setDefaultSpeed(speed);
});
/*******************************************************************************
* 步进电机 *
*******************************************************************************/
#define GET_MOTOR(motor) \
{ \
int motorid = atoi(argv[1]); \
motor = &g_step_motor[motorid]; \
if (motorid >= 6 || motorid < 1) { \
ZLOGE(TAG, "motor %d not found", motorid); \
context->breakflag = true; \
return; \
} \
}
/**
* @brief STEPMOTOR
*/
cmdScheduler.registerCmd("step_motor_setvelocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setVelocity(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_set_acc", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setAcc(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_set_dec", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setDec(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_moveto", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveTo(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_moveby", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveBy(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->rotate(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_movetozero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveToZero();
});
cmdScheduler.registerCmd("step_motor_wait_for_idle", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
HAL_Delay(100);
while (!motor->isIdleState()) {
HAL_Delay(300);
ZLOGI(TAG, "step_motor_wait_for_idle %d", atoi(argv[1]));
}
});
cmdScheduler.registerCmd("step_motor_clear_exception", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->clearException();
});
cmdScheduler.registerCmd("step_motor_moveto_mm", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
int32_t step;
if (!distance_mm_to_step(atoi(argv[1]), atof(argv[2]), &step)) {
ZLOGE(TAG, "step_motor_moveto_mm %d %f failed", atoi(argv[1]), atof(argv[2]));
context->breakflag = true;
return;
}
motor->moveTo(step);
});
static int main_servo_motor_velocity = 400;
cmdScheduler.registerCmd("main_servo_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_rotate direction
CHECK_ARGC(1);
int direction = atoi(argv[1]);
if (direction == 0) {
// 用正转位置0来停止设备
g_eq20servomotor.writePn(1, 614, 1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
} else if (direction > 0) {
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, -1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 614, 999999);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
} else if (direction < 0) {
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 614, -999999);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
}
});
cmdScheduler.registerCmd("main_servo_motor_set_velocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
main_servo_motor_velocity = atoi(argv[1]);
return;
});
cmdScheduler.registerCmd("main_servo_motor_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_move_to v
CHECK_ARGC(0);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 0);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
});
cmdScheduler.registerCmd("main_servo_motor_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_move_to v
CHECK_ARGC(0);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 0);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
});
// setzero
// set4095
// moveto
@ -439,24 +151,32 @@ void regfn() {
});
cmdScheduler.registerCmd("mini_servo_move_to", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(3);
int id = atoi(argv[1]);
int pos = atoi(argv[2]);
int v = atoi(argv[3]);
ZLOGI(TAG, "mini_servo_move_to %d %d %d", id, pos, v);
g_feiteservomotor.moveTo(id, pos, v, 0);
});
int id = atoi(argv[1]);
int pos = atoi(argv[2]);
int torque = atoi(argv[3]);
#if 0
cmdScheduler.registerCmd("main_servo_motor_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_move_to v
CHECK_ARGC(0);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 0);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
ZLOGI(TAG, "mini_servo_move_to %d %d %d %d", id, pos, 2700, torque);
g_feiteservomotor.moveTo(id, pos, 2700, torque);
});
cmdScheduler.registerCmd("mini_servo_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int id = atoi(argv[1]);
int speed = atoi(argv[2]);
// int v = atoi(3000);
ZLOGI(TAG, "mini_servo_rotate %d %d %d", id, speed, 10, 2700);
g_feiteservomotor.rotate(id, speed, 10);
});
cmdScheduler.registerCmd("mini_servo_move_with_torque", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int id = atoi(argv[1]);
int torque = atoi(argv[2]);
// int v = atoi(3000);
if (torque == 0) {
g_feiteservomotor.moveWithTorque(id, 1);
} else {
g_feiteservomotor.moveWithTorque(id, torque);
}
});
#endif
cmdScheduler.registerCmd("sleep_ms", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
@ -468,7 +188,10 @@ extern "C" {
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}
void Main::run() {
extern "C" {}
extern void step_motor_cmd_reg();
void Main::run() {
/*******************************************************************************
* 系统初始化 *
*******************************************************************************/
@ -516,6 +239,7 @@ void Main::run() {
g_feiteservomotor.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
step_motor_cmd_reg();
regfn();
while (true) {
OSDefaultSchduler::getInstance()->loop();

3
usrc/main.hpp
View File

@ -19,6 +19,3 @@ class Main {
extern Main gmain;
} // namespace iflytop
extern "C" {
void umain(void) { iflytop::gmain.run(); }
}

352
usrc/step_motor_cmd_reg.cpp
View File

@ -0,0 +1,352 @@
#include <stddef.h>
#include <stdio.h>
#include "main.hpp"
//
#include "feite_servo_motor.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#define TAG "main"
namespace iflytop {
using namespace std;
};
using namespace iflytop;
#define CHECK_ARGC(n) \
if (argc != (n + 1)) { \
ZLOGE(TAG, "argc != %d", n); \
context->breakflag = true; \
return; \
}
static map<int, float> screw_lead = {
{1, 10.0}, //
{2, 10.0}, //
{3, 10.0}, //
{4, 10.0}, //
{5, 10.0}, //
{6, 10.0}, //
};
/*******************************************************************************
* 代码 *
*******************************************************************************/
namespace iflytop {
extern StepMotor45 g_step_motor45[7];
extern StepMotor g_step_motor[10];
extern IflytopCanMaster m_IflytopCanMaster;
extern CmdScheduler cmdScheduler;
extern ModbusBlockHost g_modbusblockhost;
extern Eq20ServoMotor g_eq20servomotor;
extern FeiTeServoMotor g_feiteservomotor;
} // namespace iflytop
static bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distance) {
if (screw_lead.find(motorid) == screw_lead.end()) {
return false;
}
float lead = screw_lead[motorid];
*distance = distance_mm / lead * 51200;
return true;
}
void step_motor_cmd_reg() {
cmdScheduler.registerCmd("help", //
[](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { ZLOGI(TAG, "do_help"); });
cmdScheduler.registerCmd("reset_board", //
[](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { NVIC_SystemReset(); });
cmdScheduler.registerCmd("stepmotor45_wait_to_reach_pos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
while (true) {
if (g_step_motor45[motorid].isReachTargetPos()) {
break;
}
ZLOGI(TAG, "stepmotor45_wait_to_reach_pos %d", motorid);
osDelay(100);
}
});
cmdScheduler.registerCmd("stepmotor45_reset_pos_all", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(0);
g_step_motor45[1].setPos(0);
g_step_motor45[2].setPos(0);
g_step_motor45[3].setPos(0);
g_step_motor45[4].setPos(0);
g_step_motor45[5].setPos(0);
g_step_motor45[6].setPos(0);
});
// stepmotor45
cmdScheduler.registerCmd("stepmotor45_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int direction = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].rotate(direction);
});
cmdScheduler.registerCmd("stepmotor45_readPos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// stepmotor45_rotate motorid direction
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
ZLOGI(TAG, "motorid %d pos %d", motorid, g_step_motor45[motorid].getPos());
});
cmdScheduler.registerCmd("stepmotor45_moveTo", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int pos = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].moveTo(pos);
});
cmdScheduler.registerCmd("stepmotor45_moveBy", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int motorid = atoi(argv[1]);
int pos = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].moveBy(pos);
});
cmdScheduler.registerCmd("stepmotor45_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int motorid = atoi(argv[1]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].stop();
});
cmdScheduler.registerCmd("stepmotor45_setSpeed", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int motorid = atoi(argv[1]);
int speed = atoi(argv[2]);
if (motorid < 1 || motorid > 6) {
ZLOGE(TAG, "motorid out of range");
return;
}
g_step_motor45[motorid].setDefaultSpeed(speed);
});
/*******************************************************************************
* 步进电机 *
*******************************************************************************/
#define GET_MOTOR(motor) \
{ \
int motorid = atoi(argv[1]); \
motor = &g_step_motor[motorid]; \
if (motorid >= 6 || motorid < 1) { \
ZLOGE(TAG, "motor %d not found", motorid); \
context->breakflag = true; \
return; \
} \
}
/**
* @brief STEPMOTOR
*/
cmdScheduler.registerCmd("step_motor_setvelocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setVelocity(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_set_acc", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setAcc(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_set_dec", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setDec(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_moveto", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveTo(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_moveby", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveBy(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->rotate(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_movetozero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveToZero();
});
cmdScheduler.registerCmd("step_motor_readpos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
int32_t pos = motor->readpos();
ZLOGI(TAG, "step_motor_readpos %d %d", atoi(argv[1]), pos);
});
cmdScheduler.registerCmd("step_motor_wait_for_idle", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
HAL_Delay(100);
while (!motor->isIdleState()) {
HAL_Delay(300);
ZLOGI(TAG, "step_motor_wait_for_idle %d", atoi(argv[1]));
}
});
cmdScheduler.registerCmd("step_motor_clear_exception", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->clearException();
});
cmdScheduler.registerCmd("step_motor_moveto_mm", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
int32_t step;
if (!distance_mm_to_step(atoi(argv[1]), atof(argv[2]), &step)) {
ZLOGE(TAG, "step_motor_moveto_mm %d %f failed", atoi(argv[1]), atof(argv[2]));
context->breakflag = true;
return;
}
motor->moveTo(step);
});
static int main_servo_motor_velocity = 400;
cmdScheduler.registerCmd("main_servo_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_rotate direction
CHECK_ARGC(1);
int direction = atoi(argv[1]);
if (direction == 0) {
// 用正转位置0来停止设备
g_eq20servomotor.writePn(1, 614, 1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
} else if (direction > 0) {
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, -1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 614, 999999);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
} else if (direction < 0) {
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 1);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
g_eq20servomotor.writePn(1, 614, -999999);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
}
});
cmdScheduler.registerCmd("main_servo_motor_set_velocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
main_servo_motor_velocity = atoi(argv[1]);
return;
});
cmdScheduler.registerCmd("main_servo_motor_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_move_to v
CHECK_ARGC(0);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 0);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
});
cmdScheduler.registerCmd("main_servo_motor_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
// main_servo_motor_move_to v
CHECK_ARGC(0);
g_eq20servomotor.writePn(1, 615, main_servo_motor_velocity);
g_eq20servomotor.writePn(1, 614, 0);
g_eq20servomotor.writePn(1, 1501, 0);
g_eq20servomotor.writePn(1, 1501, 1);
});
// setzero
// set4095
// moveto
cmdScheduler.registerCmd("sleep_ms", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
osDelay(atoi(argv[1]));
});
}
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