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209 lines
5.0 KiB
209 lines
5.0 KiB
#pragma once
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#include "sdk/os/zos.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
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#define ZMOTOR_ID 4
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#define XYRobot_ID 3
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#define XYRobot_HOOK_ID 21
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namespace iflytop {
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using namespace std;
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class IntelligentWindingRobotCtrl {
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public:
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typedef struct {
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/**
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* @brief 排废舵机
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*/
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int32_t paifei_duoji_reset_pos;
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int32_t paifei_duoji_press_pos;
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int32_t paifei_duoji_press_torque;
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/**
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* @brief 绕线探测舵机
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*/
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int32_t raoxiantance_duoji_reset_pos;
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int32_t raoxiantance_duoji_tance_zero_pos;
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/**
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* @brief 压线舵机
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*/
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int32_t yaxian_duoji_reset_pos;
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int32_t yaxian_duoji_press_pos;
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int32_t yaxian_duoji_press_torque;
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int32_t yaxian_duoji_wait_for_press_pos;
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/**
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* @brief 线拉紧舵机
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*/
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int32_t xianlajin_duoji_reset_pos;
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int32_t xianlajin_duoji_line_entry_pos;
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int32_t xianlajin_duoji_tight_line_pos;
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int32_t xianlajin_duoji_loose_line_pos;
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/**
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* @brief 线夹紧舵机
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*/
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int32_t jiaxian_duoji_reset_pos;
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int32_t jiaxian_duoji_clamp_pos;
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int32_t jiaxian_duoji_clamp_torque;
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/**
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* @brief 机械臂夹线舵机
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*/
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int32_t arm_jiaxian_duoji_reset_pos;
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int32_t arm_jiaxian_duoji_clamp_direction;
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int32_t arm_jiaxian_duoji_clamp_torque;
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/**
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* @brief 剪刀
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*/
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int32_t scissors_reset_pos;
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int32_t scissors_cut_pos;
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/**
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* @brief 钩爪
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*/
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int32_t arm_hook_claws_half_pos;
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int32_t arm_hook_claws_full_pos;
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/**
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* @brief Z轴定位
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*/
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int32_t z_axis_take_line_pos;
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int32_t z_axis_take_clip_pos;
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int32_t z_axis_winding_hight;
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/**
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* @brief XY平台
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*/
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int32_t xy_platform_winding_pos_x;
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int32_t xy_platform_winding_pos_y;
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int32_t xy_platform_takeline_pos_x;
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int32_t xy_platform_takeline_pos_y;
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/**
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* @brief
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*
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*
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* 00
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*
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*
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*
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* XX
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*/
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int32_t xy_platform_takeline_clip00_pos_x; //
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int32_t xy_platform_takeline_clip00_pos_y;
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int32_t xy_platform_takeline_clipXX_pos_x;
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int32_t xy_platform_takeline_clipXX_pos_y;
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int32_t clip_line;
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int32_t clip_each_line_num;
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} config_t;
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ZModuleDeviceManager* m_dm;
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ICmdParser* m_cmdparse;
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config_t cfg;
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private:
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int32_t device_reset();
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int32_t disable_all_motor();
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int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // 取弹夹
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int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_duoji_reset = true); // 取弹夹
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int32_t xy_run_to_clip_pos_test(int32_t clip_index);
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int32_t xy_reset();
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int32_t zmove_to(int32_t pos);
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int32_t zreset();
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int32_t xymove_to(int32_t x, int32_t y);
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public:
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int32_t initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse);
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void regcb();
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int32_t initialize_device();
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// 排废舵机
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int32_t paifei_duoji_moveto_reset();
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int32_t paifei_duoji_moveto_press();
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/**
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* @brief 绕线探测舵机
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*/
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int32_t raoxiantance_duoji_move_to_reset();
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int32_t raoxiantance_duoji_move_to_get_thickness(int32_t* thickness);
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/**
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* @brief 压线舵机
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*/
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int32_t yaxian_duoji_move_to_reset();
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int32_t yaxian_duoji_move_to_press_pos();
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int32_t yaxian_duoji_move_to_wait_for_press_pos();
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/**
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* @brief 线拉紧舵机
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*/
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int32_t xianlajin_duoji_move_to_reset(); // 零位
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int32_t xianlajin_duoji_move_to_line_entry_pos(); // 入线位
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int32_t xianlajin_duoji_move_to_tight_line_pos(); // 拉线位置
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int32_t xianlajin_duoji_move_to_loose_line_pos(); // 放线位置
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/**
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* @brief 夹线舵机
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*/
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int32_t jiaxian_duoji_move_to_reset_pos();
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int32_t jiaxian_duoji_move_to_clamp_pos();
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/**
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* @brief 剪刀
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*/
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int32_t scissors_move_reset_pos(); // block
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int32_t scissors_cut(); // block
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/**
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* @brief 机械臂夹线舵机
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*/
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int32_t arm_jiaxian_duoji_move_to_reset_pos();
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int32_t arm_jiaxian_duoji_move_to_clamp_pos();
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/**
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* @brief 机械臂钩爪
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*/
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int32_t arm_hook_claws_reset();
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int32_t arm_hook_claws_move_to_half_pos();
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int32_t arm_hook_claws_move_to_full_pos();
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int32_t main_shaft_run();
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int32_t main_shaft_stop();
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/**
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* @brief XY平台
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*/
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int32_t xy_platform_reset();
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/**
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* @brief Z轴
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*/
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int32_t z_axis_reset();
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int32_t z_axis_move_to(int32_t pos);
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int32_t xy_move_to_zero(); // 移动到零位
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int32_t xy_take_clip(int32_t index); // 取弹夹
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int32_t xy_take_line(); // 取线
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int32_t xy_take_back_clip(); // 放弹夹
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int32_t xy_remove_line(); // 移除线
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/**
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* @brief
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*/
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int32_t start_winding();
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int32_t stop_winding();
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int32_t reset_and_check_device();
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int32_t setcfg(const char* cfgname, int32_t cfgvalue);
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int32_t dumpcfg();
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int32_t do_reset_device();
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int32_t do_winding(int32_t index);
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void processError(int32_t err);
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void wait_module_idle(int32_t moduleid);
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};
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} // namespace iflytop
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