motor.zdt_x42:
  category:
  - motor
  class:
    action_value_mappings:
      auto-enable:
        feedback: {}
        goal: {}
        goal_default:
          'on': true
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          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。
          properties:
            feedback: {}
            goal:
              properties:
                'on':
                  default: true
                  type: boolean
              required: []
              type: object
            result: {}
          required:
          - goal
          title: enable参数
          type: object
        type: UniLabJsonCommand
      auto-get_position:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 获取当前电机脉冲位置。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result:
              properties:
                position:
                  type: integer
              type: object
          required:
          - goal
          title: get_position参数
          type: object
        type: UniLabJsonCommand
      auto-move_position:
        feedback: {}
        goal: {}
        goal_default:
          absolute: false
          acceleration: 10
          direction: CW
          pulses: 1000
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          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。
          properties:
            feedback: {}
            goal:
              properties:
                absolute:
                  default: false
                  type: boolean
                acceleration:
                  default: 10
                  maximum: 255
                  minimum: 0
                  type: integer
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                pulses:
                  default: 1000
                  type: integer
                speed_rpm:
                  default: 60
                  minimum: 0
                  type: integer
              required:
              - pulses
              - speed_rpm
              type: object
            result: {}
          required:
          - goal
          title: move_position参数
          type: object
        type: UniLabJsonCommand
      auto-move_speed:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 10
          direction: CW
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 速度模式运行。控制电机以指定转速和方向持续转动。
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 10
                  maximum: 255
                  minimum: 0
                  type: integer
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                speed_rpm:
                  default: 60
                  minimum: 0
                  type: integer
              required:
              - speed_rpm
              type: object
            result: {}
          required:
          - goal
          title: move_speed参数
          type: object
        type: UniLabJsonCommand
      auto-rotate_quarter:
        feedback: {}
        goal: {}
        goal_default:
          direction: CW
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 电机旋转 1/4 圈 (阻塞式)。
          properties:
            feedback: {}
            goal:
              properties:
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                speed_rpm:
                  default: 60
                  minimum: 1
                  type: integer
              required: []
              type: object
            result: {}
          required:
          - goal
          title: rotate_quarter参数
          type: object
        type: UniLabJsonCommand
      auto-set_zero:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 将当前电机位置设为零点。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: set_zero参数
          type: object
        type: UniLabJsonCommand
      auto-stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 立即停止电机运动。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop参数
          type: object
        type: UniLabJsonCommand
      auto-wait_time:
        feedback: {}
        goal: {}
        goal_default:
          duration_s: 1.0
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 等待指定时间 (秒)。
          properties:
            feedback: {}
            goal:
              properties:
                duration_s:
                  default: 1.0
                  minimum: 0
                  type: number
              required:
              - duration_s
              type: object
            result: {}
          required:
          - goal
          title: wait_time参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
    status_types:
      position: int
      status: str
    type: python
  config_info: []
  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。
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 115200
          type: integer
        debug:
          default: false
          type: boolean
        device_id:
          default: 1
          type: integer
        port:
          type: string
        timeout:
          default: 0.5
          type: number
      required:
      - port
      type: object
    data:
      properties:
        position:
          type: integer
        status:
          type: string
      required:
      - status
      - position
      type: object
  version: 1.0.0