257 lines
8.8 KiB
Python
257 lines
8.8 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/6 13:55
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# @Author : reenrr
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# @File : DM_Motor_test.py
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# @Desc : 达妙电机测试
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'''
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from DM_CAN import *
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from DM_Motor import DMMotorController
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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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ORI_P_DESIRED = 0.0 # 吸附位置
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DROP_P_DESIRED = 0.0 # 放置位置
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V_DESIRED = 30
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P_DESIRED_MIN = -300
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P_DESIRED_MAX = 300
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V_DESIRED_MIN = -30
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V_DESIRED_MAX = 30
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ORIGIN_POSITION = 0.0 # 电机原点位置
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POSITION_TOLERANCE = 0.1 # 位置误差阈值
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class DMMotorInterface:
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def __init__(self):
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"""初始化电机控制器，切换模式并使能电机"""
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self.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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# 切换到位置-速度模式
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self.motor_controller.switch_control_mode(Control_Type.POS_VEL)
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# 使能电机
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self.motor_controller.enable_motor()
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except Exception as e:
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raise RuntimeError(f"电机初始化失败:{str(e)}") from e
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# 全局变量
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_DMMotor = DMMotorInterface()
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def set_dm_motor_speed(value: int) -> bool:
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"""
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设置达妙电机速度
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:param value: 速度值
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:return: 是否设置成功
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"""
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global V_DESIRED_MIN, V_DESIRED_MAX, V_DESIRED
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try:
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_min = V_DESIRED_MIN
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_max = V_DESIRED_MAX
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except NameError as e:
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err_msg = f"速度限位常量未定义：{str(e)}，请检查V_DESIRED_MIN/V_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"速度值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = V_DESIRED
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V_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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# 5. 异常处理：保留原始异常链，加详细日志
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def set_ori_position(value: float) ->bool:
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"""
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设置吸附位置
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:param value: 设置吸附位置值
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"""
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global ORI_P_DESIRED, P_DESIRED_MIN, P_DESIRED_MAX
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try:
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_min = P_DESIRED_MIN
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_max = P_DESIRED_MAX
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except NameError as e:
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err_msg = f"位置限位常量未定义：{str(e)}，请检查P_DESIRED_MIN/P_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"位置值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = ORI_P_DESIRED
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ORI_P_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def set_drop_position(value: float) -> bool:
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"""
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设置放置位置
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:param value: 设置放置位置
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"""
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global DROP_P_DESIRED, P_DESIRED_MIN, P_DESIRED_MAX
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try:
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_min = P_DESIRED_MIN
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_max = P_DESIRED_MAX
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except NameError as e:
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err_msg = f"位置限位常量未定义：{str(e)}，请检查P_DESIRED_MIN/P_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"位置值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = DROP_P_DESIRED
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DROP_P_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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# 5. 异常处理：保留原始异常链，加详细日志
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def move_to_ori_position():
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"""
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移动到吸附位置
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"""
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try:
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print(f"开始执行--移动到吸附位置：目标位置={ORI_P_DESIRED},速度={V_DESIRED}")
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_DMMotor.motor_controller.control_pos_vel(ORI_P_DESIRED, V_DESIRED)
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time.sleep(5) # 等待电机移动完成
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print(f"吸附位置移动指令已发送")
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except Exception as e:
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# 封装异常信息，保留原始异常链
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err_msg = f"移动到吸附位置失败：{str(e)}（目标位置={ORI_P_DESIRED}，速度={V_DESIRED}）"
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print(f"❌ 异常：{err_msg}")
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raise RuntimeError(err_msg) from e
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def move_to_drop_position():
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"""
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移动到放置位置
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"""
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try:
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print(f"开始执行--移动到放置位置：目标位置={DROP_P_DESIRED},速度={V_DESIRED}")
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_DMMotor.motor_controller.control_pos_vel(DROP_P_DESIRED, V_DESIRED)
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time.sleep(5) # 等待电机移动完成
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print(f"放置位置移动指令已发送")
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except Exception as e:
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# 封装异常信息，保留原始异常链
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err_msg = f"移动到放置位置失败：{str(e)}（目标位置={DROP_P_DESIRED}，速度={V_DESIRED}）"
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print(f"❌ 异常：{err_msg}")
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raise RuntimeError(err_msg) from e
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def set_zero_position() -> bool:
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"""
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电机零点标定：将当前物理位置设置为软件0位
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注意：调用前需确保电机处于稳定的物理零点位置
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"""
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try:
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print("🔍 开始执行电机零点标定...")
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result = _DMMotor.motor_controller.motor_control.set_zero_position(_DMMotor.motor_controller.motor)
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if result:
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# 保存标定参数（关键：否则断电后零点丢失）
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_DMMotor.motor_controller.save_param()
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print("✅ 零点标定成功！当前位置已设为0位，参数已保存")
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return True
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else:
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print("❌ 零点标定失败！")
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return False
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except Exception as e:
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err_msg = f"零点标定异常：{str(e)}"
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print(f"❌ {err_msg}")
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raise RuntimeError(err_msg) from e
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def reset_motor():
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"""复位达妙电机，防止断电"""
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try:
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# 读取断电后的当前位置
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print("开始电机复位流程：读取当前位置...")
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current_pos = _DMMotor.motor_controller.get_position()
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print(f"✅ 读取当前位置成功：{current_pos}")
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# 计算需要移动的偏移量（核心逻辑）
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if abs(current_pos) <= POSITION_TOLERANCE:
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print(f"ℹ️ 当前位置已在原点附近（误差={abs(current_pos)} ≤ {POSITION_TOLERANCE}），无需复位")
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return True
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reset_target_p = -current_pos # 重点修改：p_desired = -当前位置
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print(f"📌 复位路径计算：当前位置={current_pos} → 需设置p_desired={reset_target_p} → 回到0位")
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print(f"🚀 开始复位移动：p_desired={reset_target_p}，速度={V_DESIRED} rpm")
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_DMMotor.motor_controller.control_pos_vel(p_desired=reset_target_p, v_desired=V_DESIRED)
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time.sleep(5) # 等待电机复位
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except Exception as e:
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err_msg = f"电机复位失败：{str(e)}"
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print(f"❌ 错误：{err_msg}")
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raise RuntimeError(err_msg) from e
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# ---------调试接口----------
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if __name__ == '__main__':
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# 首先在吸附位置处进行 设置零点位置
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set_zero_position()
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reset_motor() # 待测试
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set_dm_motor_speed(30)
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set_drop_position(282.6)
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set_ori_position(-282.6)
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# 起始位置：吸附位置
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move_to_drop_position()
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time.sleep(5) # 电机运动需要的时间
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move_to_ori_position()
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time.sleep(5) # 电机运动需要的时间
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