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https://github.com/dptech-corp/Uni-Lab-OS.git
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93 lines
3.9 KiB
Python
93 lines
3.9 KiB
Python
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from ..base_types.PrPath import PR_PATH
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from ..Utils import create_command, get_result_byte_int, get_result_byte_str, send_command
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def create_position_commands(slave_id: int, which: int, how: PR_PATH,
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position: float, velocity: int = 300,
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acc_time: int = 50, dec_time: int = 50,
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special: int = 0) -> list[list[bytes]]:
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"""
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创建位置相关的Modbus命令列表
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Args:
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slave_id: 从站地址
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which: PR路径号(0-7)
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how: PR_PATH枚举，定义运动方式
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position: 目标位置(Pulse)
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velocity: 运行速度(rpm)
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acc_time: 加速时间(ms/Krpm)，默认50
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dec_time: 减速时间(ms/Krpm)，默认50
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special: 特殊参数，默认0
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Returns:
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包含所有设置命令的列表
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"""
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if not 0 <= which <= 7:
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raise ValueError("which必须在0到7之间")
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base_addr = 0x6200 + which * 8
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# 位置值保持原样（Pulse）
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position = int(position)
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print(f"路径方式 {' '.join(bin(how.value)[2:])} 位置 {position} 速度 {velocity}")
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position_high = (position >> 16) & 0xFFFF # 获取高16位
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position_low = position & 0xFFFF # 获取低16位
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# 速度值（rpm）转换为0x0000格式
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velocity_value = 0x0000 + velocity
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# 加减速时间（ms/Krpm）转换为0x0000格式
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acc_time_value = 0x0000 + int(acc_time)
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dec_time_value = 0x0000 + int(dec_time)
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# 特殊参数转换为0x0000格式
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special_value = 0x0000 + special
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return [
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create_command(slave_id, 0x06, base_addr + 0, how.value), # 路径方式
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create_command(slave_id, 0x06, base_addr + 1, position_high), # 位置高16位
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create_command(slave_id, 0x06, base_addr + 2, position_low), # 位置低16位
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create_command(slave_id, 0x06, base_addr + 3, velocity_value), # 运行速度
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create_command(slave_id, 0x06, base_addr + 4, acc_time_value), # 加速时间
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create_command(slave_id, 0x06, base_addr + 5, dec_time_value), # 减速时间
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create_command(slave_id, 0x06, base_addr + 6, special_value), # 特殊参数
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]
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def create_position_run_command(slave_id: int, which: int) -> list[list[bytes]]:
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print(f"运行路径 PR{which}")
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return [create_command(slave_id, 0x06, 0x6002, 0x0010 + which)]
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def run_set_position_zero(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
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print(f"手动回零")
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send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x6002, 0x0021))
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def run_stop(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
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print(f"急停")
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send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x6002, 0x0040))
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def run_set_forward_run(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
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print(f"设定正方向运动")
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send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x0007, 0x0000))
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def run_set_backward_run(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
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print(f"设定反方向运动")
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send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x0007, 0x0001))
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def run_get_command_position(ser, DEVICE_ADDRESS, print_pos=True) -> int:
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retH = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602A, 0x0001)) # 命令位置H
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retL = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602B, 0x0001)) # 命令位置L
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value = get_result_byte_str(retH) + get_result_byte_str(retL)
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value = int(value, 16)
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if print_pos:
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print(f"命令位置: {value}")
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return value
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def run_get_motor_position(ser, DEVICE_ADDRESS, print_pos=True) -> int:
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retH = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602C, 0x0001)) # 电机位置H
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retL = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602D, 0x0001)) # 电机位置L
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value = get_result_byte_str(retH) + get_result_byte_str(retL)
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value = int(value, 16)
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if print_pos:
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print(f"电机位置: {value}")
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return value
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