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feat: 接口更新

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This commit is contained in:
bmy
2024-06-02 17:01:35 +08:00
parent 682f479771
commit 0517164e42
7 changed files with 227 additions and 72 deletions
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74
app/by_messy.c
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@@ -3,6 +3,7 @@
#include "lwprintf.h"
#include "by_frame.h"
#include "by_motion.h"
#include "by_can.h"
void by_messy_init(void)
{
@@ -12,6 +13,9 @@ void by_messy_init(void)
void by_messy_loop(void)
{
uint8_t cmd = 0;
uint8_t buff_t_u8[8] = {0};
uint16_t buff_t_u16[4] = {0};
float buff_t_f[2] = {0};
uint32_t buff[BY_FRAME_DATA_NUM] = {0};
if (!by_frame_parse(&cmd, buff)) {
@@ -57,16 +61,82 @@ void by_messy_loop(void)
case 0x41: // 设置转台 x 轴复位
by_frame_send(cmd, buff); // 正确接收后直接返回原文
buff_t_u8[0] = 0;
buff_t_u8[1] = 1; // 复位模式下速度设置无效
buff_t_f[0] = 0.0;
memcpy(&buff_t_u8[2], &buff_t_f[0], sizeof(buff_t_f[0]));
by_can_send_stdd(0x008, buff_t_u8, 1, 100);
break;
case 0x42: // 设置转台 z 轴复位
by_frame_send(cmd, buff); // 正确接收后直接返回原文
buff_t_u8[0] = 0;
buff_t_u8[1] = 5; // 设置复位速度 5
by_can_send_stdd(0x008, buff_t_u8, 1, 100);
break;
case 0x43: // 设置转台末端执行器复位
by_frame_send(cmd, buff); // 正确接收后直接返回原文
buff_t_u8[0] = 0;
by_can_send_stdd(0x009, buff_t_u8, 1, 100);
break;
case 0x44: // 设置x轴位置 (增量)
by_frame_send(cmd, buff);
buff_t_u8[0] = 1; // 增量模式
buff_t_u8[1] = buff[0]; // 拷贝设置速度
memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
by_can_send_stdd(0x006, buff_t_u8, 8, 100);
break;
case 0x46: // 设置z轴位置 (增量)
by_frame_send(cmd, buff);
buff_t_u8[0] = 1; // 增量模式
buff_t_u8[1] = buff[0]; // 拷贝设置速度
memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
by_can_send_stdd(0x008, buff_t_u8, 8, 100);
break;
case 0x47: // 设置x轴位置 (绝对)
by_frame_send(cmd, buff);
buff_t_u8[0] = 0; // 位置模式
buff_t_u8[1] = buff[0]; // 拷贝设置速度
memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
by_can_send_stdd(0x006, buff_t_u8, 8, 100);
break;
case 0x49: // 设置z轴位置 (绝对)
by_frame_send(cmd, buff);
buff_t_u8[0] = 0; // 增量模式
buff_t_u8[1] = buff[0]; // 拷贝设置速度
memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
by_can_send_stdd(0x008, buff_t_u8, 8, 100);
break;
case 0x50: // 设置夹爪摇臂角度
by_frame_send(cmd, buff);
memcpy(buff_t_f, buff, sizeof(float));
buff_t_u16[0] = (int16_t)(buff_t_f[0]);
by_can_send_stdd(0x009, (uint8_t *)&buff_t_u16, 2, 100);
break;
case 0x51: // 设置夹爪角度
by_frame_send(cmd, buff);
memcpy(buff_t_f, buff, sizeof(float));
buff_t_u16[0] = (int16_t)(buff_t_f[0]);
by_can_send_stdd(0x00A, (uint8_t *)&buff_t_u16, 2, 100);
break;
case 0x52: // 设置摄像头角度
by_frame_send(cmd, buff);
memcpy(buff_t_f, buff, sizeof(float));
buff_t_u16[0] = (int16_t)(buff_t_f[0]);
by_can_send_stdd(0x00B, (uint8_t *)&buff_t_u16, 2, 100);
break;
case 0x53: // 设置顶端抓取机构角度
by_frame_send(cmd, buff);
memcpy(buff_t_f, buff, sizeof(float));
buff_t_u16[0] = (int16_t)(buff_t_f[0]);
by_can_send_stdd(0x00C, (uint8_t *)&buff_t_u16, 2, 100);
break;
case 0x54: // 设置托盘角度
by_frame_send(cmd, buff);
memcpy(buff_t_f, buff, sizeof(float));
buff_t_u16[0] = (int16_t)(buff_t_f[0]);
by_can_send_stdd(0x00D, (uint8_t *)&buff_t_u16, 2, 100);
break;
default:
break;
}