轮廓速度模式（带加减速）

模式原理

轮廓速度模式控制的是执行器的旋转速度，这个模式内置了速度规划的功能，当设定好目标速度时执行器将按照指定的加（减）速度逐渐加（减）速到该目标值，速度曲线是梯形曲线。

参数配置

• 影响到到速度轨迹的参数有：速度模式加减速度值，电流环和速度环kp、ki值，有关设置方法请参考PID参数设置
• 影响到执行器执行结果的参数有：限制电流值，目标速度值
• 以上这些参数都支持实时修改，有关设置以上参数的报文，请参考CAN2.0B 通信协议

示例代码

（1）python

from motor_control import *

# port_name: Windows: "COM*"  Linux: "/dev/ttyUSB*"
# id: Executor ID
# Baudrate: The baud rate can only be 921600
port_name = "COM6"
id = [0x00]
Baudrate = 921600
motor = MotorControl(port_name, id, Baudrate)

# Feedback_cycle1(ms): Feedback period of the first status packet，
#                      Including voltage, pwm, current, speed
# Feedback_cycle2(ms)：Feedback period of the second status packet，
#                      Including the position of the motor and the position of the actuator
# Feedback_cycle3(ms)：Feedback period of the third status packet，
#                      Including MOS tube, motor temperature, chip temperature and warning information, 
#                      error information, operation mode
# cur: current(mA)
Feedback_cycle1 = 10
Feedback_cycle2 = 10
Feedback_cycle3 = 10

# PROFILE_VELOCITY_MODE
# limit_cur(mA): limit current
# vel(rpm): target velocity of motor
limit_cur = [10000]
vel = [1000]

reset(motor)
time.sleep(0.6)
mode_selection(motor, PROFILE_VELOCITY_MODE, Feedback_cycle1, Feedback_cycle2, Feedback_cycle3)
time.sleep(1)

# velocity_acc_dec_set(motor, {2000}, {2000})
# current_pid_set(motor, {0.006}, {0.001})
# velocity_pid_set(motor, {50}, {1.2})

write_profile_velocity(motor, limit_cur, vel)
time.sleep(2)
velocity = get_v_p_c_v(motor)[0][-1]     # return the content of the first status packet
write_profile_velocity(motor, limit_cur, {0})
time.sleep(2)

c++：

#include <motor_control.h>
#include <multi_motor_control.h>
#include <iostream>
#include <thread>
#include <chrono>

#ifdef _WIN32
    #include <windows.h>
    #include <mmsystem.h>
    #pragma comment(lib, "winmm.lib")
#endif

#define delay(s) std::this_thread::sleep_for(std::chrono::milliseconds((int32_t)(s*1000)))

int main()
{
#ifdef _WIN32
    timeBeginPeriod(1);
#endif

    #define status_packet1 0xb1
    #define status_packet2 0xb2
    #define status_packet3 0xb3
    
    // port_name: Windows: "COM*"  Linux: "/dev/ttyUSB*"
    // id: Executor ID
    // Baudrate: The baud rate can only be 921600
    string port_name = "COM6";
    uint32_t Baudrate = 921600;
    uint8_t id = 0x00;
    MotorControl motor(port_name, Baudrate, id);
    
    // Feedback_cycle1(ms): Feedback period of the first status packet，
    //                      Including voltage, pwm, current, speed
    // Feedback_cycle2(ms)：Feedback period of the second status packet，
    //                      Including the position of the motor and the position of the actuator
    // Feedback_cycle3(ms)：Feedback period of the third status packet，
    //                      Including MOS tube, motor, chip temperature and warning information, 
    //                      error information, current operation mode
    // cur: current(mA)
    uint8_t Feedback_cycle1 = 10;
    uint8_t Feedback_cycle2 = 10;
    uint8_t Feedback_cycle3 = 10;
    
    // PROFILE_VELOCITY_MODE
    // cur(mA): limit current
    // vel(rpm): target velocity of motor
    cur = 10000;
    int16_t vel = 500;
    
    motor.reset();
    motor.mode_selection(Mode::PROFILE_VELOCITY_MODE, Feedback_cycle1, Feedback_cycle2, Feedback_cycle3);
    
    // motor.write_velocity_acc_dec(2000, 2000);           // Params: acceleration, deceleration
    // motor.write_current_pid(0.006, 0.001);              // Params: KP, KI
    // motor.write_velocity_pid(50, 1.2);             // Params: KP, KI
    
    motor.write_profile_velocity(cur, vel);
    
    cout << endl << "profile velocity mode" << endl;
    printf("target_velocity: %d\n", vel);
    delay(2);
    MotorStatus status = motor.get_motor_status({status_packet1,status_packet2,status_packet3});
    printf("velocity: %d\n", status.velocity_value);
    
    motor.write_profile_velocity(cur, 0);
    delay(1);
    
#ifdef _WIN32
    timeEndPeriod(1);
#endif
}