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线条厂各设备控制代码V1.0

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pengqi
2026-01-06 16:01:15 +08:00
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2026/1/6 13:55
# @Author : reenrr
# @File : DM_Motor_test.py
# @Desc : 达妙电机测试
'''
from DM_CAN import *
import serial
import time
# -------------------------- 电机参数配置 --------------------------
SLAVE_ID = 0x01
MASTER_ID = 0x11
PORT = 'COM10'
BAUDRATE = 921600
class DMMotorController:
"""达妙电机控制器类"""
def __init__(self, slave_id=None, master_id=None, port=None, baudrate=None):
"""
初始化电机控制器
:param slave_id: 从机ID，默认0x01
:param master_id: 主机ID，默认0x11
:param port: 串口端口，默认COM6
:param baudrate: 波特率，默认921600
"""
# 初始化参数
self.slave_id = slave_id if slave_id is not None else SLAVE_ID
self.master_id = master_id if master_id is not None else MASTER_ID
self.port = port if port is not None else PORT
self.baudrate = baudrate if baudrate is not None else BAUDRATE
# 核心属性初始化
self.serial_device = None # 串口设备
self.motor = None # 电机实例
self.motor_control = None # 电机控制器实例
# 初始化电机和串口
self.init_motor()
def init_motor(self):
"""初始化电机和串口"""
try:
# 1.初始化串口
self.serial_device = serial.Serial(
port=self.port,
baudrate=self.baudrate,
timeout=0.5
)
# 2.创建电机实例
self.motor = Motor(DM_Motor_Type.DM4310, self.slave_id, self.master_id)
# 3.创建电机控制器实例
self.motor_control = MotorControl(self.serial_device)
# 4.添加电机
self.motor_control.addMotor(self.motor)
print(f"✅ 电机初始化成功")
print(f" - 串口：{self.port} | 波特率：{self.baudrate}")
print(f" - 从机ID：{hex(self.slave_id)} | 主机ID：{hex(self.master_id)}")
except Exception as e:
raise RuntimeError(f"❌ 电机初始化失败：{e}")
def switch_control_mode(self, control_type):
"""
切换电机控制模式
:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
:return: 切换成功返回True，否则返回False
"""
try:
result = self.motor_control.switchControlMode(self.motor, control_type)
mode_name = self._get_mode_name(control_type)
if result:
print(f"✅ 切换到{mode_name}模式成功")
# 切换模式后保存参数
self.motor_control.save_motor_param(self.motor)
else:
print(f"❌ 切换到{mode_name}模式失败")
return result
except Exception as e:
print(f"❌ 切换模式出错：{str(e)}")
return False
def enable_motor(self):
"""使能电机"""
try:
self.motor_control.enable(self.motor)
print("✅ 电机使能成功")
return True
except Exception as e:
print(f"❌ 电机使能失败：{str(e)}")
return False
def disable_motor(self):
"""失能电机"""
try:
self.motor_control.disable(self.motor)
print("✅ 电机失能成功")
return True
except Exception as e:
print(f"❌ 电机失能失败：{str(e)}")
return False
def control_pos_vel(self, p_desired, v_desired):
"""
位置-速度模式控制
:param p_desired: 目标位置（rad, 范围[-300, 300]）
:param v_desired: 目标速度（rad/s, 范围[-30, 30]）
"""
try:
# 归零 + 发送运动指令
self.motor_control.set_zero_position(self.motor)
self.motor_control.control_Pos_Vel(self.motor, p_desired, v_desired)
time.sleep(0.1)
print(f"✅ 位置-速度控制：位置={p_desired}rad | 速度={v_desired}rad/s")
return True
except Exception as e:
print(f"❌ 位置-速度控制出错：{str(e)}")
return False
def close_serial(self):
"""关闭串口"""
try:
if self.serial_device and self.serial_device.is_open:
self.serial_device.close()
print("✅ 串口关闭成功")
return True
except Exception as e:
print(f"❌ 串口关闭失败：{str(e)}")
return False
def _get_mode_name(self, control_type):
"""
获取模式名称
:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
"""
# 1.定义[枚举值--中文名称]的映射字典
mode_map = {
Control_Type.POS_VEL: "位置-速度模式",
Control_Type.VEL: "速度模式",
Control_Type.MIT: "MIT模式"
}
# 2.根据控制模式值获取中文名称 字典方法
return mode_map.get(control_type, "未知模式") # “未知模式”默认值
def save_param(self):
"""保存所有电机参数"""
try:
if self.motor is None:
raise ValueError("电机实例为None，无法保存参数")
self.motor_control.save_motor_param(self.motor)
print("电机参数保存成功")
except Exception as e:
print(f"❌ 电机参数保存失败：{str(e)}")
def refresh_motor_status(self):
"""获得电机状态"""
try:
if self.motor is None:
raise ValueError("电机实例为None，无法保存参数")
self.motor_control.refresh_motor_status(self.motor)
print("电机状态刷新成功")
except Exception as e:
print(f"❌ 电机状态刷新失败：{str(e)}")
def get_position(self):
"""获取电机位置"""
try:
if self.motor is None:
raise ValueError("电机实例为None，无法保存参数")
position = self.motor.getPosition()
print(f"获取电机位置成功，当前位置: {position}")
return position
except Exception as e:
print(f"获取电机位置失败: {str(e)}")
def change_limit_param(self, motor_type, pmax, vmax, tmax):
"""
改变电机的PMAX VMAX TMAX
:param motor_type: 电机的类型
:param pmax: 电机的PMAX
:param vmax: 电机的VMAX
:param tmax: 电机的TAMX
"""
try:
self.motor_control.change_limit_param(motor_type, pmax, vmax, tmax)
print(
f"电机限位参数修改成功 | 类型: {motor_type} | PMAX: {pmax} | VMAX: {vmax} | TMAX: {tmax}"
)
except Exception as e:
print(f"修改电机限位参数失败: {str(e)}")
def __del__(self):
"""析构函数：确保程序退出时失能电机、关闭串口"""
try:
# 先检查串口是否打开，避免重复操作
if self.serial_device and self.serial_device.is_open:
self.disable_motor()
self.close_serial()
else:
# 串口已关闭，无需重复操作，仅打印日志
print("ℹ️ 串口已关闭，析构函数无需重复释放资源")
except Exception as e:
print(f"ℹ️ 析构函数执行警告：{str(e)}")
def dm_motor_control():
# 1.创建电机控制器实例
motor_controller = DMMotorController(
slave_id=SLAVE_ID,
master_id=MASTER_ID,
port=PORT,
baudrate=BAUDRATE
)
try:
# 切换到位置-速度模式
motor_controller.switch_control_mode(Control_Type.POS_VEL)
# 使能电机
motor_controller.enable_motor()
# 循环控制电机
while True:
print("运动前的位置", motor_controller.get_position()) # 需要测试断电后是否能读取得到
motor_controller.control_pos_vel(p_desired=282.6, v_desired=30) # 450mm 665-215
time.sleep(20)
motor_controller.refresh_motor_status()
print("运动1的位置", motor_controller.get_position()) # 刷新的比较慢，可以等位置不变一段时间之后，再获取位置
motor_controller.refresh_motor_status()
motor_controller.control_pos_vel(p_desired=-282.6, v_desired=30)
time.sleep(20)
except KeyboardInterrupt:
print("\n⚠️ 用户手动停止程序")
except Exception as e:
print(f"\n❌ 程序运行出错：{str(e)}")
finally:
# 5. 无论是否出错，最终都要失能电机、关闭串口
motor_controller.disable_motor()
motor_controller.close_serial()
print("✅ 程序正常退出")
# ---------调试接口----------
if __name__ == '__main__':
dm_motor_control()