HJB\13752
3 months ago
7 changed files with 118 additions and 57 deletions
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/*
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* msp_Strong_grinding_machine.h |
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* |
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* Created on: 2026年3月27日 |
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* Author: 13752 |
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*/ |
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#ifndef BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_ |
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#define BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_ |
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#include "bsp_UART.h" |
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#include "BHBF_ROBOT.h" |
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#include "msp_zhr29_200_laser_sensor.pb.h" |
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#include "bsp_MB_host.h" |
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extern uint8_t strong_grinding_machine_cmd; |
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extern void strong_grinding_machine_intialize(struct UARTHandler *Handler); |
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#endif /* BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_ */ |
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/*
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* msp_Strong_grinding_machine.c |
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* |
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* Created on: 2026年3月27日 |
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* Author: 13752 |
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*/ |
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#include "msp_Strong_grinding_machine.h" |
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static struct UARTHandler *Strong_grinding_machine_handler; |
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static DispacherController *Strong_grinding_machine_dispacherController; |
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static void Strong_grinding_machine_cmd(void); |
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//static void decode_Strong_grinding_machine(uint8_t *buffer, uint16_t length);
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static const uint8_t inquiry_interval = 50; |
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void strong_grinding_machine_intialize(struct UARTHandler *Handler) |
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{ |
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Strong_grinding_machine_handler = Handler; |
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Strong_grinding_machine_handler->Wait_time = 10; |
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Strong_grinding_machine_dispacherController = Handler->dispacherController; |
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Strong_grinding_machine_dispacherController->Dispacher_Enable = 1; |
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Strong_grinding_machine_dispacherController->DispacherCallTime = 100; |
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Strong_grinding_machine_dispacherController->Add_Dispatcher_List(Strong_grinding_machine_dispacherController, |
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Strong_grinding_machine_cmd); |
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} |
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// 测试，转速20rpm
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const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02, 0x00, 0x14, 0x28, 0x05}; |
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const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x82, 0x5F, 0xAB}; |
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const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x81, 0x1F, 0xAA}; |
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static uint8_t strong_grinding_machine_cmd_flag = 0; |
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uint8_t strong_grinding_machine_cmd = 0; |
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const uint16_t strong_grinding_machine_speed = 20; |
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void Strong_grinding_machine_cmd(void) |
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{ |
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switch(strong_grinding_machine_cmd_flag) |
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{ |
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case 0: |
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MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount, |
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0x01, 0x0002, strong_grinding_machine_speed); |
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// Strong_grinding_machine_handler->TxCount = 8;
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// memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
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Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount, |
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inquiry_interval, NULL); |
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strong_grinding_machine_cmd_flag = 1; |
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break; |
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case 1: |
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if(strong_grinding_machine_cmd == 0) |
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{ |
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Strong_grinding_machine_handler->TxCount = 8; |
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memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_stop_cmd, Strong_grinding_machine_handler->TxCount); |
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Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount, |
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inquiry_interval, NULL); |
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} |
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else if(strong_grinding_machine_cmd == 1) |
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{ |
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Strong_grinding_machine_handler->TxCount = 8; |
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memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_start_cmd, Strong_grinding_machine_handler->TxCount); |
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Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount, |
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inquiry_interval, NULL); |
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} |
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else{ |
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} |
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strong_grinding_machine_cmd_flag = 0; |
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break; |
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} |
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} |
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@ -1,47 +0,0 @@ |
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CAN指令 |
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81 00 00 00 00 00 00 00 复位所有节点 |
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01 00 00 00 00 00 00 00 启动所有节点的远程控制 |
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步骤1（复位节点）和步骤2（启动节点）的帧ID是“0x0000”，其余的步骤的帧ID为SDO的地址0X0600+节点号 |
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2b 40 60 00 06 00 00 00 写控制字06H，状态机切换状态 |
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2b 40 60 00 07 00 00 00 写控制字07H，状态机切换状态 |
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2b 40 60 00 0f 00 00 00 写控制字0FH，状态机切换状态 |
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一、速度模式发以下指令 |
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2f 60 60 00 03 00 00 00 速度模式 |
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23 ff 60 00 A0 86 01 00 正转 |
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23 ff 60 00 60 79 FE FF 反转 |
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23 ff 60 00 00 00 00 00 停车 |
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二、位置模式发以下指令 |
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2f 60 60 00 01 00 00 00 位置模式 |
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23 81 60 00 A0 86 01 00 写速度 |
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23 7a 60 00 A0 86 01 00 正转10圈（5mm） |
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23 7a 60 00 60 79 FE FF 反转10圈（5mm） |
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23 7a 60 00 C0 D4 01 00 正转12圈（6mm） |
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23 7a 60 00 40 2B FE FF 反转12圈（6mm） |
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2b 40 60 00 4f 00 00 00 设置为相对运动模式 |
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2b 40 60 00 5f 00 00 00 电机开始运动 |
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@ -1,6 +1,6 @@ |
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2F62501ED4689FB349E356AB974DBE57=1E2381E617183AADF4456CCD6D53D61D |
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2F62501ED4689FB349E356AB974DBE57=A84465D0AB7FC85C43037569F99B7E82 |
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635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612 |
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66BE74F758C12D739921AEA421D593D3=0 |
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8DF89ED150041C4CBC7CB9A9CAA90856=1E2381E617183AADF4456CCD6D53D61D |
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DC22A860405A8BF2F2C095E5B6529F12=BFAB4159B488818C3ED3C0C9D5058F5A |
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8DF89ED150041C4CBC7CB9A9CAA90856=A84465D0AB7FC85C43037569F99B7E82 |
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DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08 |
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eclipse.preferences.version=1 |
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@ -1,6 +1,6 @@ |
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2F62501ED4689FB349E356AB974DBE57=C1FAD6334016FA4DBFEEBFD567ADCF8D |
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2F62501ED4689FB349E356AB974DBE57=072A9A3C3EA2FF5DA5BFC344F13F526F |
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635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612 |
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66BE74F758C12D739921AEA421D593D3=0 |
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8DF89ED150041C4CBC7CB9A9CAA90856=C1FAD6334016FA4DBFEEBFD567ADCF8D |
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DC22A860405A8BF2F2C095E5B6529F12=68A7121F69F6593E9817CACB2B0CB8AF |
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8DF89ED150041C4CBC7CB9A9CAA90856=072A9A3C3EA2FF5DA5BFC344F13F526F |
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DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08 |
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eclipse.preferences.version=1 |
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