版本：1.1.0

C++

配置环境

Linux:

在终端依次执行以下命令(下载serial库):

git clone     https://github.com/wjwwood/serial.git
cd serial
mkdir build
cd build
cmake ..
make
sudo make install

在TA_CAN\C++\Linux\build路径下的终端中输入cmake..生成构建文件，再输入make生成可执行文件

Windows:

下载Visual Studio 并安装"使用C++的桌面开发"(案例:Visual Studio 2022)
安装CMake https://cmake.org/download/
开发工具(二选一):

Visual Studio Code:

在Developer Command Prompt for VS 2022中编译serial

cd <Project Path>\TA_CAN\C++\Windows\serial\build
cmake -G "Visual Studio 17 2022" ..
cmake --build . --config Release

将TA_CAN\C++\Windows\vs_code路径下CMakeLists.txt文件中的serial路径改为本地路径
在Developer Command Prompt for VS 2022t中编译可执行文件

cd <Project Path>\TA_CAN\C++\Windows\vs_code\build
cmake -G "Visual Studio 17 2022" ..
cmake --build . --config Release

Visual Studio 2022:

在Developer Command Prompt for VS 2022中编译serial

cd <Project Path>\TA_CAN\C++\Windows\serial\build
cmake -G "Visual Studio 17 2022" ..
cmake --build . --config Release

将TA_CAN\C++\Windows\vs\project路径下的CMakeLists.txt文件中的serial路径改为本地路径配置必须为Release，如果选择Debug则需要重新编译serial

创建类对象

单执行器

demo:

#include <motor_control.h>
string port_name = "COM27";                     // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);    // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

多执行器

demo:

#include <multi_motor_control.h>
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";                          // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);    // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

修改类对象ID

单执行器

motor.set_obhect_id(new_id);

demo: 修改ID为0x00

#include <motor_control.h>
string port_name = "COM27";                    // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);   // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.set_obhect_id(0x00);
}

多执行器

motors.set_obhect_id(vector<uint8_t> new_id);

demo: 修改ID为0x00和0x01

#include <multi_motor_control.h>
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";                         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);   // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.set_obhect_id({0x00, 0x01});
}

复位

单执行器

vector<int> result = motor.reset();

现象：执行器LED灯先变红后变蓝

返回序列号和更新日期

demo:

#include <motor_control.h>
string port_name = "COM27";                    // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);   // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.reset();
}

多执行器

vector<vector<int>> result = motors.reset();

现象：执行器LED灯先变红后变蓝

返回序列号和更新日期

demo:

#include <multi_motor_control.h>
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";                         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);   // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.reset();
}

模式选择

单执行器

motor.mode_selection(Mode::<b>Control mode</b>, Feedback cycle 1, Feedback cycle 2, Feedback cycle 3);

❗

控制模式选择请参考控制模式

demo: 进入轮廓速度模式

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                           // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
}

多执行器

motors.mode_selection(Mode::<b>Control mode</b>, Feedback cycle 1, Feedback cycle 2, Feedback cycle 3);

❗

控制模式选择请参考控制模式

demo: 进入轮廓速度模式

#include <multi_motor_control.h>
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);                       // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
}

控制模式

异步模式

单执行器

motor.mode_selection(Mode::ASYNC_MODE, xx, xx, xx)
motor.write_async(Duty value)

(执行器无异常时尽量不使用)

demo: 设置占空值为500

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::ASYNC_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motor.write_async(500);                                 // Params: duty values
}

多执行器

motors.mode_selection(Mode::ASYNC_MODE, xx, xx, xx)
motors.write_async(vector<int16_t>Duty value)

(执行器无异常时尽量不使用) demo: 设置占空值为500

#include <multi_motor_control.h>
vector<int16_t>duty_values = { 500, 500};
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);           // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::ASYNC_MODE, 10, 10, 10);    // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motors.write_async(duty_values);                        // Params: vector of duty values
}

开环模式

单执行器

motor.mode_selection(Mode::OPEN_LOOP_MODE, xx, xx, xx)
motor.write_open_loop(Duty value)

(执行器无异常时尽量不使用)

demo: 设置占空值为500

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                    // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::OPEN_LOOP_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motor.write_open_loop(500);                                 // Params: duty values
}

多执行器

motors.mode_selection(Mode::OPEN_LOOP_MODE, xx, xx, xx)
motors.write_open_loop(vector<int16_t>Duty value)

(执行器无异常时尽量不使用)

demo: 设置占空值为500

#include <multi_motor_control.h>
vector<int16_t>duty_values = { 300, 300 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);               // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::OPEN_LOOP_MODE, 10, 10, 10);    // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motors.write_open_loop(duty_values);                        // Params: vector of duty values
}

电流模式

单执行器

motor.mode_selection(Mode::CURRENT_MODE, xx, xx, xx);
motor.write_current(Target current);

demo: 将目标电流设置成500mA

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::CURRENT_MODE, 10, 10, 10);   // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motor.write_current(500);                               // Params: target current
}

多执行器

motors.mode_selection(Mode::CURRENT_MODE, xx, xx, xx);
motors.write_current(vector<int16_t> Target current);

demo: 将目标电流设置成500mA

#include <multi_motor_control.h>
vector<int16_t>cur = { 500, 500 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);               // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::CURRENT_MODE, 10, 10, 10);      // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motors.write_current(cur);                                  // Params: vector of target current
}

轮廓速度模式

单执行器

motor.mode_selection(Mode::PROFILE_VELOCITY_MODE, xx, xx, xx)
motor.write_profile_velocity(Current limit, Target velocity)

demo: 将目标速度设置成500rpm

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                            // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);      // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motor.write_profile_velocity(2000, 500);                            // Params: current limit, target velocity
}

多执行器

motors.mode_selection(Mode::PROFILE_VELOCITY_MODE, xx, xx, xx)
motors.write_profile_velocity(vector<int16_t>Current limit, vector<int16_t>Target velocity)

demo: 将目标速度设置成500rpm

#include <multi_motor_control.h>
vector<int16_t>cur = { 3000, 3000 };
vector<int16_t>vel = { 500, 500 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";                                             // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);                       // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
    motors.write_profile_velocity(cur, vel);                            // Params: vector of current limit, vector of target velocity
}

轮廓位置模式

单执行器

motor.mode_selection(Mode::PROFILE_POSITION_MODE, xx, xx, xx);
motor.write_profile_position(Current limit, Velocity limit, Target position);

demo: 将目标位置设置成360°

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                            // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::PROFILE_POSITION_MODE, 10, 10, 10);      // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                                          // Windows: Sleep(ms)  Linux: sleep(s)
    motor.write_profile_position(3000, 1000, 65535);                    // Params: current limit, velocity limit, target position
}

❗

减速器端旋转一圈的值为16bits=65536

多执行器

motors.mode_selection(Mode::PROFILE_POSITION_MODE, xx, xx, xx)
motors.write_profile_position(vector<int16_t>Current limit, vector<int16_t>Velocity limit, vector<int32_t>Target position)

demo: 将目标位置设置成360°

#include <multi_motor_control.h>
vector<int16_t>cur = { 3000, 3000 };
vector<int16_t>vel = { 1000, 1000 };
vector<int32_t>pos = { 65535, 65535 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";                                           // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);                     // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::PROFILE_POSITION_MODE, 10, 10, 10);   // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                                        // Windows: Sleep(ms)  Linux: sleep(s)
    motors.write_profile_position(cur, vel, pos);                     // Params: vector of current limit, vector of velocity limit, vector of target position
}

❗

减速器端旋转一圈的值为16bits=65536

位置模式

单执行器

motor.mode_selection(Mode::POSITION_MODE, xx, xx, xx)
motor.write_position(Current limit, Velocity limit, Target position)

demo: 将目标位置设置成360°

#include <motor_control.h>
string port_name = "COM27";                                     // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);                    // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::POSITION_MODE, 10, 10, 10);      // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10) ;                                                 // Windows: Sleep(ms)  Linux: sleep(s)
    motor.write_position(3000, 1000, 65535);                    // Params: current limit, velocity limit, target position
}

❗

减速器端旋转一圈的值为16bits=65536

多执行器

motors.mode_selection(Mode::POSITION_MODE, xx, xx, xx)
motors.write_position(vector<int16_t>Current limit, vector<int16_t>Velocity limit, vector<int32_t>Target position)

demo: 将目标位置设置成360°

#include <multi_motor_control.h>
vector<int16_t>cur = { 3000, 3000 };
vector<int16_t>vel = { 1000, 1000 };
vector<int32_t>pos = { 65535, 65535 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);               // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::POSITION_MODE, 10, 10, 10);     // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                                  // Windows: Sleep(ms)  Linux: sleep(s)
    motors.write_position(cur, vel, pos);                       // Params: vector of current limit, vector of velocity limit, vector of target position
}

❗

减速器端旋转一圈的值为16bits=65536

MIT模式

单执行器

motor.mode_selection(Mode::MIT_MODE, xx, xx, xx)
motor.write_mit(Target current, Target velocity, Target position, KP, KD)

demo 点到点（电流的大小应视情况而定）

❗

目标速度为0，其他不为0 (电流为前馈转矩补偿)

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);             // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::MIT_MODE, 10, 10, 10);    // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motor.write_mit(300, 0, 65535, 13.1, 10.0);          // Params: target current, target velocity, target position, kp, kd
}

固定速度（电流的大小应视情况而定）

❗

目标位置和KP为0，其他不为0 (电流为前馈转矩补偿)

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);             // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::MIT_MODE, 10, 10, 10);    // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motor.write_mit(300, 500, 0, 0.0, 10.0);             // Params: target current, target velocity, target position, kp, kd
}

固定扭矩

❗

目标电流不为0，其他都为0

#include <motor_control.h>
string port_name = "COM27"         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);             // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::MIT_MODE, 10, 10, 10);    // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motor.write_mit(500, 0, 0, 0.0, 0.0);                // Params: target current, target velocity, target position, kp, kd
}

多执行器

motors.mode_selection(Mode::MIT_MODE, xx, xx, xx)
motors.write_mit(vector<int16_t>target current, vector<int16_t>target velocity, vector<int16_t>target position, vector<float>KP, vector<float>KD)

demo: 点到点（电流的大小应视情况而定）

❗

目标速度为0，其他不为0 (电流为前馈转矩补偿)

#include <multi_motor_control.h>
vector<int16_t>cur = { 300, 300 };
vector<int16_t>vel = { 0, 0 };
vector<int32_t>pos = { 65535, 65535 };
vector<float>kp = { 13.1, 13.1 };
vector<float>kd = { 10.0, 10.0 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);            // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::MIT_MODE, 10, 10, 10);   // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motors.write_mit(cur, vel, pos, kp, kd);             // Params: vector of target current, vector of target velocity, vector of target position,
                                                         // vector of kp, vector of kd
}

固定速度（电流的大小应视情况而定）

❗

目标位置和KP为0，其他不为0 (电流为前馈转矩补偿)

#include <multi_motor_control.h>
vector<int16_t>cur = { 300, 300 };
vector<int16_t>vel = { 500, 500 };
vector<int32_t>pos = { 0, 0 };
vector<float>kp = { 0.0, 0.0 };
vector<float>kd = { 10.0, 10.0 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);        // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::MIT_MODE, 10, 10, 10);   // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motors.write_mit(cur, vel, pos, kp, kd);             // Params: vector of target current, vector of target velocity, vector of target position,
                                                         // vector of kp, vector of kd
}

固定扭矩

❗

目标电流不为0，其他都为0

#include <multi_motor_control.h>
vector<int16_t>cur = { 500, 500 };
vector<int16_t>vel = { 0, 0 };
vector<int32_t>pos = { 0, 0 };
vector<float>kp = { 0.0, 0.0 };
//vector<float>kd = { 0.0, 0.0 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);        // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::MIT_MODE, 10, 10, 10);   // Params: Mode::operation mode, feedback cycle 1, 2, 3
    Sleep(10);                                           // Windows: Sleep(ms)  Linux: sleep(s)
    motors.write_mit(cur, vel, pos, kp, kd);             // Params: vector of target current, vector of target velocity, vector of target position,
                                                         // vector of kp, vector of kd
}

读取参数

单执行器

MotorStatus status = motor.get_motor_status(header_types);

❗

header_types: 0xB1, 0xB2, 0xB3

MotorStatus是用来存放执行器参数的结构体

读全部参数

读电压、PWM、电流和速度

读电机位置和执行器位置

读mos管温度、电机温度、G431芯片温度、警告类型和错误类型

多执行器

vector<MultiMotorStatus> all_motor_status = motors.get_motor_status(vector<uint8_t>header_types);

❗

header_types: 0xB1, 0xB2, 0xB3

MultiMotorStatus是用来存放执行器参数的结构体

读全部参数

读电压、PWM、电流和速度

读电机位置和执行器位置

读mos管温度、电机温度、G431芯片温度、警告类型和错误类型

其他功能

单执行器

刹车、修改开环模式加减速度、修改profile速度加减速度、修改电流pid、修改速度pid、修改位置pid

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);            // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.brake_control(-2000, 500);                    // Params: pwm, durations
    motor.write_openloop_acc_dec(2000, 2000);           // Params: acceleration, deceleration
    motor.write_velocity_acc_dec(2000, 2000);           // Params: acceleration, deceleration
    motor.write_current_pid(0.001, 0.001);              // Params: KP, KI
    motor.write_velocity_pid(0.001, 0.001);             // Params: KP, KI
    motor.write_position_pid(0.001, 0.001);             // Params: KP, KD
}

实时修改轮廓速度的加速度和减速度

#include <motor_control.h>
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MotorControl motor(port_name, 921600, 0x01);    // Params: serial port path (string), baud rate (uint32_t), actuator id (0x05060100)

int main()
{
    motor.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);
    while (1)
    {
        static int16_t i = 0;
        i += 100;
        motor.write_velocity_acc_dec(i, i);
        cout << i << endl;
        if (i >= 1000)
        {
            break;
        }
        motor.write_profile_velocity(3000, 1000);
        Sleep(4000);
        motor.write_profile_velocity(3000, 0);
        Sleep(3000);
    }
}

多执行器

刹车、修改开环模式加减速度、修改profile速度加减速度、修改电流pid、修改速度pid、修改位置pid

#include <multi_motor_control.h>
vector<int16_t>pwm = { 2000, 2000 };
vector<uint16_t>dur = { 500, 500 };
vector<int16_t>acc_ = { 2000, 2000 };
vector<int16_t>dec_ = { 2000, 2000 };
vector<float>kps = { 0.001, 0.001 };
vector<float>kis = { 0.001, 0.001 };
vector<float>kds = { 0.001, 0.001 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);       // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.brake_control(pwm, dur);                     // Params: vector of pwm, vector of durations
    motors.write_openloop_acc_dec(acc_, dec_);          // Params: vector of acceleration, vector of deceleration
    motors.write_velocity_acc_dec(acc_, dec_);          // Params: vector of acceleration, vector of deceleration
    motors.write_current_pid(kps, kis);                 // Params: vector of KP, vector of KI
    motors.write_velocity_pid(kps, kis);                // Params: vector of KP, vector of KI
    motors.write_position_pid(kps, kds);                // Params: vector of KP, vector of KD

实时修改轮廓速度的加速度和减速度

#include <multi_motor_control.h>
vector<int16_t>cur = { 3000, 3000 };
vector<int16_t>vel = { 1000, 1000 };
vector<int16_t>vel_0 = { 0, 0 };
vector<uint8_t>ids = { 0x01, 0x17 };
string port_name = "COM27";         // Windows: "COM*"  Linux: "/dev/ttyUSB*"
MultiMotorControl motors(port_name, 921600, ids);       // Params: serial port path (string), baud rate (uint32_t), actuator ids (0x05060100, 0x05061700)

int main()
{
    motors.mode_selection(Mode::PROFILE_VELOCITY_MODE, 10, 10, 10);
    Sleep(100);
    while (1)
    {
        static int16_t i = 0;
        i += 100;
        vector<int16_t> acc_dec = { i, i };
        motors.write_velocity_acc_dec(acc_dec, acc_dec);
        cout << i << endl;
        if (i >= 1000)
        {
            break;
        }
        motors.write_profile_velocity(cur, vel);
        Sleep(4000);
        motors.write_profile_velocity(cur, vel_0);
        Sleep(3000);
    }
}

配置环境​

创建类对象​

修改类对象ID​

复位​

模式选择​

异步模式​

开环模式​

电流模式​

轮廓速度模式​

轮廓位置模式​

位置模式​

MIT模式​

读取参数​

其他功能​

配置环境

创建类对象

修改类对象ID

复位

模式选择

异步模式

开环模式

电流模式

轮廓速度模式

轮廓位置模式

位置模式

MIT模式

读取参数

其他功能