252 lines
8.9 KiB
Python
252 lines
8.9 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2025/11/5 14:27
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# @Author : reenrr
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# @File : DM_Motor.py
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# Description：线条厂--达妙电机控制程序
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'''
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from DM_CAN import *
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import serial
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import time
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# -------------------------- 电机参数配置 --------------------------
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SLAVE_ID = 0x01
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MASTER_ID = 0x11
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PORT = 'COM10'
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BAUDRATE = 921600
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class DMMotorController:
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"""达妙电机控制器类"""
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def __init__(self, slave_id=None, master_id=None, port=None, baudrate=None):
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"""
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初始化电机控制器
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:param slave_id: 从机ID，默认0x01
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:param master_id: 主机ID，默认0x11
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:param port: 串口端口，默认COM6
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:param baudrate: 波特率，默认921600
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"""
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# 初始化参数
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self.slave_id = slave_id if slave_id is not None else SLAVE_ID
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self.master_id = master_id if master_id is not None else MASTER_ID
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self.port = port if port is not None else PORT
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self.baudrate = baudrate if baudrate is not None else BAUDRATE
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# 核心属性初始化
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self.serial_device = None # 串口设备
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self.motor = None # 电机实例
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self.motor_control = None # 电机控制器实例
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# 初始化电机和串口
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self.init_motor()
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def init_motor(self):
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"""初始化电机和串口"""
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try:
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# 1.初始化串口
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self.serial_device = serial.Serial(
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port=self.port,
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baudrate=self.baudrate,
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timeout=0.5
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)
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# 2.创建电机实例
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self.motor = Motor(DM_Motor_Type.DM4310, self.slave_id, self.master_id)
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# 3.创建电机控制器实例
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self.motor_control = MotorControl(self.serial_device)
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# 4.添加电机
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self.motor_control.addMotor(self.motor)
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print(f"✅ 电机初始化成功")
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print(f" - 串口：{self.port} | 波特率：{self.baudrate}")
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print(f" - 从机ID：{hex(self.slave_id)} | 主机ID：{hex(self.master_id)}")
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except Exception as e:
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raise RuntimeError(f"❌ 电机初始化失败：{e}")
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def switch_control_mode(self, control_type):
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"""
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切换电机控制模式
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:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
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:return: 切换成功返回True，否则返回False
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"""
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try:
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result = self.motor_control.switchControlMode(self.motor, control_type)
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mode_name = self._get_mode_name(control_type)
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if result:
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print(f"✅ 切换到{mode_name}模式成功")
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# 切换模式后保存参数
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self.motor_control.save_motor_param(self.motor)
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else:
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print(f"❌ 切换到{mode_name}模式失败")
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return result
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except Exception as e:
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print(f"❌ 切换模式出错：{str(e)}")
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return False
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def enable_motor(self):
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"""使能电机"""
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try:
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self.motor_control.enable(self.motor)
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print("✅ 电机使能成功")
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return True
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except Exception as e:
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print(f"❌ 电机使能失败：{str(e)}")
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return False
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def disable_motor(self):
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"""失能电机"""
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try:
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self.motor_control.disable(self.motor)
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print("✅ 电机失能成功")
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return True
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except Exception as e:
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print(f"❌ 电机失能失败：{str(e)}")
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return False
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def control_pos_vel(self, p_desired, v_desired):
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"""
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位置-速度模式控制
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:param p_desired: 目标位置（rad, 范围[-300, 300]）
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:param v_desired: 目标速度（rad/s, 范围[-30, 30]）
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"""
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try:
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# 发送运动指令
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# self.motor_control.set_zero_position(self.motor)
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self.motor_control.control_Pos_Vel(self.motor, p_desired, v_desired)
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time.sleep(0.1)
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print(f"✅ 位置-速度控制：位置={p_desired}rad | 速度={v_desired}rad/s")
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return True
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except Exception as e:
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print(f"❌ 位置-速度控制出错：{str(e)}")
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return False
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def close_serial(self):
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"""关闭串口"""
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try:
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if self.serial_device and self.serial_device.is_open:
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self.serial_device.close()
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print("✅ 串口关闭成功")
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return True
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except Exception as e:
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print(f"❌ 串口关闭失败：{str(e)}")
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return False
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def _get_mode_name(self, control_type):
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"""
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获取模式名称
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:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
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"""
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# 1.定义[枚举值--中文名称]的映射字典
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mode_map = {
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Control_Type.POS_VEL: "位置-速度模式",
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Control_Type.VEL: "速度模式",
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Control_Type.MIT: "MIT模式"
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}
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# 2.根据控制模式值获取中文名称 字典方法
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return mode_map.get(control_type, "未知模式") # “未知模式”默认值
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def save_param(self):
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"""保存所有电机参数"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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self.motor_control.save_motor_param(self.motor)
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print("电机参数保存成功")
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except Exception as e:
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print(f"❌ 电机参数保存失败：{str(e)}")
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def refresh_motor_status(self):
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"""获得电机状态"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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self.motor_control.refresh_motor_status(self.motor)
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print("电机状态刷新成功")
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except Exception as e:
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print(f"❌ 电机状态刷新失败：{str(e)}")
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def get_position(self):
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"""获取电机位置"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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position = self.motor.getPosition()
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print(f"获取电机位置成功，当前位置: {position}")
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return position
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except Exception as e:
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print(f"获取电机位置失败: {str(e)}")
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def change_limit_param(self, motor_type, pmax, vmax, tmax):
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"""
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改变电机的PMAX VMAX TMAX
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:param motor_type: 电机的类型
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:param pmax: 电机的PMAX
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:param vmax: 电机的VMAX
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:param tmax: 电机的TAMX
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"""
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try:
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self.motor_control.change_limit_param(motor_type, pmax, vmax, tmax)
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print(
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f"电机限位参数修改成功 | 类型: {motor_type} | PMAX: {pmax} | VMAX: {vmax} | TMAX: {tmax}"
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)
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except Exception as e:
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print(f"修改电机限位参数失败: {str(e)}")
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def __del__(self):
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"""析构函数：确保程序退出时失能电机、关闭串口"""
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try:
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# 先检查串口是否打开，避免重复操作
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if self.serial_device and self.serial_device.is_open:
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self.disable_motor()
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self.close_serial()
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else:
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# 串口已关闭，无需重复操作，仅打印日志
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print("ℹ️ 串口已关闭，析构函数无需重复释放资源")
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except Exception as e:
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print(f"ℹ️ 析构函数执行警告：{str(e)}")
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if __name__ == '__main__':
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# 1.创建电机控制器实例
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motor_controller = DMMotorController(
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slave_id=SLAVE_ID,
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master_id=MASTER_ID,
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port=PORT,
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baudrate=BAUDRATE
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)
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try:
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# 2.切换到位置-速度模式
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motor_controller.switch_control_mode(Control_Type.POS_VEL)
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# 3.使能电机
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motor_controller.enable_motor()
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# 4.循环控制电机
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while True:
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# --------------
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# 测试极限值
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# --------------
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print(f"1当前位置：{motor_controller.get_position()}")
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motor_controller.control_pos_vel(p_desired=282.6, v_desired=30) # 450mm 665-215
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print(f"2当前位置：{motor_controller.get_position()}")
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time.sleep(20)
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motor_controller.control_pos_vel(p_desired=-282.6, v_desired=30)
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time.sleep(20)
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except KeyboardInterrupt:
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print("\n⚠️ 用户手动停止程序")
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print(f"最终位置：{motor_controller.get_position()}")
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except Exception as e:
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print(f"\n❌ 程序运行出错：{str(e)}")
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finally:
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# 5. 无论是否出错，最终都要失能电机、关闭串口
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motor_controller.disable_motor()
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motor_controller.close_serial()
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print(f"最终位置：{motor_controller.get_position()}")
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print("✅ 程序正常退出")
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