46 lines
1.7 KiB
C
46 lines
1.7 KiB
C
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#ifndef TI5MOVE_H
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#define TI5MOVE_H
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#include <unistd.h>
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#include <cstdlib>
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#include <chrono>
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#include <thread>
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// #include "can/SingleCaninterface.h"
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// #include "can/motortypehelper.h"
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#include <vector>
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#include "tool.h"
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#include "Ti5LOGIC.h"
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#include <time.h>
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#include <mutex>
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#include "Ti5CAN_Driver.h"
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#define USLEEPTIME 3000
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extern "C"{ //添加：extern C
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class ArmController{
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private:
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float AG = 0.005; //启停时变速的采样间距（秒
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float scale = 101; //电机内圈与外圈的速度比
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float n2p = 655.36; //内圈转速到步速的转化系数
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// float n2p = 655.36/101; //双编码器的 内圈转速到步速的转化系数
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float mvtime = 0;
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// float j2p = scale * 65536 / 2 / pi; //电机外圈角度到内圈步数的转化
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float min_time = 0;
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bool jstp = false;
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uint8_t canidList[IDNUM];
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float nplL[4][4]; //add 用于linear_move函数机械臂直线运动
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void setn(int npL[IDNUM],int deviceInd,int canInd);
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void ACTmove(float *a,float *b,float T0,int deviceInd,int canInd);// 实际运动
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public:
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ArmController(uint8_t canid[IDNUM]);
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// void plan_move(float crtj[IDNUM],int canInd,int deviceInd);
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void plan_move(int deviceInd, int canInd,float crtj[IDNUM]);
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void new_plan_move(int deviceInd,int canInd,float crtj[IDNUM]);//mfs add 2024-12-3
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void GETP_plan_move(float crtj[IDNUM],float *CUrrentJointPosition,int deviceInd,int canInd);
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float NMAX = 3000; //所有电机内核最大转速值（(NMAX/100)圈/秒）
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float j2p = scale * 65536 / 2 / pi; //电机外圈角度到内圈步数的转化
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// float j2p = 131072/pi; //双编码器 电机外圈角度到内圈步数的转化
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};
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}//添加：extern C
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#endif
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