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feat: 增加灯条与蜂鸣器接口

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bmy
2024-06-02 18:25:28 +08:00
parent 1ddec6d054
commit 92395b9bb7
2 changed files with 36 additions and 17 deletions
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39
app/by_messy.c
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@@ -74,69 +74,92 @@ void by_messy_loop(void)
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)
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
buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF); // 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)
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
buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF); // 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)
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
buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF); // 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)
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
buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF); // 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;
case 0x61: // 设置闪灯
by_frame_send(cmd, buff);
memcpy(buff_t_u8, buff, sizeof(buff[1]));
gpio_bits_write(GPIOC, GPIO_PINS_3, buff_t_u8[0] ? FALSE : TRUE); // 灯条
break;
case 0x62: // 设置蜂鸣器
by_frame_send(cmd, buff);
memcpy(buff_t_u8, buff, sizeof(buff[1]));
gpio_bits_write(GPIOC, GPIO_PINS_2, buff_t_u8[0] ? FALSE : TRUE); // 灯条
break;
default:
break;
}