paint_robot_new v1.0【编译通过】速度控制改为直接使用数字而不是结构体

project/paint_robot_new/paint_robot_new.c

@@ -61,10 +61,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 		case CUSTOM_GET_PV:
 		{
 			//log_i("RBCORE_CMD_STOP_ALL");
-			Motor_CmdData_t tMotor_CmdData_t = {0};
-			tMotor_CmdData_t.m_ucMotorIndex = 1;
-			tMotor_CmdData_t.m_iValue = (int32_t)pstMsg->m_aucData;
-			MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, (void *)&tMotor_CmdData_t, sizeof(Motor_CmdData_t));
 			break;
 		}
         default:

project/paint_robot_new/paint_robot_new_motors.c

@@ -41,6 +41,7 @@
  *----------------------------------------------*/
 static Motor_Instance_t *g_apstMotors[MOTOR_INSTANCE_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
 static uint32_t g_uiMotorModuleID = 0;
+static int g_aiMotorSpeed[MOTOR_INSTANCE_MAX] = {0};
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -61,14 +62,10 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
     {
         case MOTOR_CMD_SET_SPEED:
         {
-            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
+            int iSpeed = (int)pstMsg->m_aucData;
-            {
+            log_i("Set Speed %d", iSpeed);
-                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
+//            g_aiMotorSpeed[0] = iSpeed;
-                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
+//            g_aiMotorSpeed[1] = iSpeed;
-                {
-                    MotorMgr_SetTargetSpeed(g_apstMotors[pstData->m_ucMotorIndex], pstData->m_iValue);
-                }
-            }
             break;
         }
         case MOTOR_CMD_STOP:
@@ -84,14 +81,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
         }
         case MOTOR_CMD_SET_HOME:
         {
-            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
+            log_i("Not Support [%d]", pstMsg->m_uiMsgID);
-            {
-                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
-                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
-                {
-                    MotorMgr_SetHome(g_apstMotors[pstData->m_ucMotorIndex]);
-                }
-            }
             break;
         }
         case MOTOR_CMD_GET_STATUS:
@@ -234,7 +224,7 @@ void MotorTask(void *argument)
                 MotorMgr_RequestPosition(g_apstMotors[i]);
                 MotorMgr_RequestFault(g_apstMotors[i]);
                 MotorMgr_RequestVelocity(g_apstMotors[i]);
-                MotorMgr_SetTargetSpeed(g_apstMotors[i], 50000);
+                MotorMgr_SetTargetSpeed(g_apstMotors[i], g_aiMotorSpeed[i]);
             }
         }