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https://github.com/dptech-corp/Uni-Lab-OS.git
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feat: add ZDT_X42 motor and XKC sensor drivers
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ZiWei
286
unilabos/registry/devices/motor.yaml
Normal file
286
unilabos/registry/devices/motor.yaml
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@@ -0,0 +1,286 @@
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motor.zdt_x42:
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category:
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- motor
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class:
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action_value_mappings:
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auto-enable:
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feedback: {}
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goal: {}
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goal_default:
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'on': true
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
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properties:
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feedback: {}
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goal:
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properties:
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'on':
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default: true
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type: boolean
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required: []
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type: object
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result: {}
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required:
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- goal
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title: enable参数
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type: object
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type: UniLabJsonCommand
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auto-get_position:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 获取当前电机脉冲位置。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result:
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properties:
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position:
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type: integer
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type: object
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required:
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- goal
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title: get_position参数
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type: object
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type: UniLabJsonCommand
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auto-move_position:
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feedback: {}
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goal: {}
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goal_default:
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absolute: false
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acceleration: 10
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direction: CW
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pulses: 1000
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
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properties:
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feedback: {}
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goal:
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properties:
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absolute:
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default: false
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type: boolean
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acceleration:
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default: 10
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maximum: 255
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minimum: 0
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type: integer
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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pulses:
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default: 1000
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type: integer
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speed_rpm:
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default: 60
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minimum: 0
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type: integer
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required:
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- pulses
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- speed_rpm
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type: object
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result: {}
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required:
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- goal
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title: move_position参数
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type: object
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type: UniLabJsonCommand
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auto-move_speed:
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feedback: {}
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goal: {}
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goal_default:
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acceleration: 10
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direction: CW
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 速度模式运行。控制电机以指定转速和方向持续转动。
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properties:
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feedback: {}
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goal:
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properties:
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acceleration:
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default: 10
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maximum: 255
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minimum: 0
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type: integer
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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speed_rpm:
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default: 60
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minimum: 0
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type: integer
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required:
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- speed_rpm
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type: object
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result: {}
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required:
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- goal
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title: move_speed参数
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type: object
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type: UniLabJsonCommand
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auto-rotate_quarter:
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feedback: {}
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goal: {}
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goal_default:
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direction: CW
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 电机旋转 1/4 圈 (阻塞式)。
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properties:
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feedback: {}
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goal:
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properties:
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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speed_rpm:
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default: 60
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minimum: 1
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type: integer
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required: []
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type: object
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result: {}
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required:
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- goal
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title: rotate_quarter参数
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type: object
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type: UniLabJsonCommand
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auto-set_zero:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 将当前电机位置设为零点。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: set_zero参数
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type: object
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type: UniLabJsonCommand
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auto-stop:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 立即停止电机运动。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: stop参数
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type: object
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type: UniLabJsonCommand
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auto-wait_time:
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feedback: {}
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goal: {}
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goal_default:
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duration_s: 1.0
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 等待指定时间 (秒)。
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properties:
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feedback: {}
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goal:
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properties:
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duration_s:
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default: 1.0
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minimum: 0
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type: number
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required:
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- duration_s
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type: object
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result: {}
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required:
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- goal
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title: wait_time参数
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type: object
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type: UniLabJsonCommand
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module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
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status_types:
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position: int
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status: str
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type: python
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config_info: []
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description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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baudrate:
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default: 115200
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type: integer
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debug:
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default: false
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type: boolean
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device_id:
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default: 1
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type: integer
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port:
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type: string
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timeout:
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default: 0.5
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type: number
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required:
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- port
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type: object
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data:
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properties:
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position:
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type: integer
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status:
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type: string
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required:
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- status
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- position
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type: object
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version: 1.0.0
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148
unilabos/registry/devices/sensor.yaml
Normal file
148
unilabos/registry/devices/sensor.yaml
Normal file
@@ -0,0 +1,148 @@
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sensor.xkc_rs485:
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category:
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- sensor
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- separator
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class:
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action_value_mappings:
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auto-change_baudrate:
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goal:
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baud_code: 7
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handles: {}
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schema:
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description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
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07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
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0F=256000'
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properties:
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goal:
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properties:
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baud_code:
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description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
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type: integer
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required:
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- baud_code
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type: object
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type: UniLabJsonCommand
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auto-change_device_id:
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goal:
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new_id: 1
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handles: {}
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schema:
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description: 修改传感器的 Modbus 从站地址
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properties:
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goal:
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properties:
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new_id:
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description: 新的从站地址 (1-254)
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maximum: 254
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minimum: 1
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type: integer
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required:
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- new_id
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type: object
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type: UniLabJsonCommand
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auto-factory_reset:
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goal: {}
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handles: {}
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schema:
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description: 恢复出厂设置 (地址重置为 01)
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properties:
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goal:
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type: object
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type: UniLabJsonCommand
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auto-read_level:
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goal: {}
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handles: {}
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schema:
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description: 直接读取当前液位及信号强度
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properties:
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goal:
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type: object
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type: object
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type: UniLabJsonCommand
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auto-set_threshold:
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goal:
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threshold: 300
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handles: {}
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schema:
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description: 设置液位判定阈值
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properties:
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goal:
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properties:
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threshold:
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type: integer
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required:
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- threshold
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type: object
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type: UniLabJsonCommand
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auto-wait_for_liquid:
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goal:
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target_state: true
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timeout: 120
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handles: {}
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schema:
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description: 实时检测电导率(RSSI)并等待用户指定的状态
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properties:
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goal:
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properties:
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target_state:
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default: true
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description: 目标状态 (True=有液, False=无液)
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type: boolean
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timeout:
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default: 120
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description: 超时时间 (秒)
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required:
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- target_state
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type: object
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type: UniLabJsonCommand
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auto-wait_level:
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goal:
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level: true
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timeout: 10
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handles: {}
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schema:
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description: 等待液位达到目标状态
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properties:
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goal:
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properties:
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level:
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type: boolean
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timeout:
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type: number
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required:
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- level
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type: object
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type: UniLabJsonCommand
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module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
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status_types:
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level: bool
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rssi: int
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type: python
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config_info: []
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description: XKC RS485 非接触式液位传感器 (Modbus RTU)
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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baudrate:
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default: 9600
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type: integer
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debug:
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default: false
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type: boolean
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device_id:
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default: 1
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type: integer
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port:
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type: string
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threshold:
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default: 300
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type: integer
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timeout:
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default: 3.0
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type: number
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required:
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- port
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type: object
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version: 1.0.0
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