update motor

Co-authored-by: Copilot <copilot@github.com>
2026-07-13 16:28:07 +07:00
parent bccfb156d7
commit dddf3fc594
9 changed files with 2142 additions and 48 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/ModelConfigs/ZLAC-test.json
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/ModelConfigs/ZLAC-test.json
@@ -0,0 +1,110 @@
+{
+  "_Comment": "Config test cho ZLAC8015D: MỘT node CAN (can0, node 1, 500kbps) điều khiển CẢ HAI bánh. Hai device dưới đây là 2 facade trái/phải của cùng một drive - phải trỏ cùng CanInterface + NodeId, khác nhau ở Axis. WheelDiameter/CountsPerRevolution/PulsesPerRevolution cần đo lại theo bánh thực tế (mặc định: encoder ZLAC 4096 counts/vòng, bánh 8.5 inch ~0.17m).",
+  "Devices": {
+    "ZLAC_LeftWheel": {
+      "DeviceId": "left-wheel",
+      "Enabled": true,
+      "DeviceType": "CiA402Servo",
+      "DeviceName": "Left Wheel (ZLAC8015D)",
+      "DriverName": "ZLAC8015D",
+      "DriverVersion": "1.0.0",
+      "Description": "ZLAC8015D dual hub servo - truc trai",
+      "Connection": {
+        "CanInterface": "can0",
+        "NodeId": "1",
+        "Axis": "Left",
+        "CountsPerRevolution": 4096,
+        "SpeedResolution": 1,
+        "AccelTimeMs": 200,
+        "DecelTimeMs": 200,
+        "AutoReconnectEnabled": true,
+        "ReconnectDelayMs": 3000,
+        "MaxReconnectAttempts": 0,
+        "PdoConfigRetryCount": 3,
+        "PdoConfigRetryTimeoutMs": 1000,
+        "UseHeartbeatCheck": true
+      }
+    },
+    "ZLAC_RightWheel": {
+      "DeviceId": "right-wheel",
+      "Enabled": true,
+      "DeviceType": "CiA402Servo",
+      "DeviceName": "Right Wheel (ZLAC8015D)",
+      "DriverName": "ZLAC8015D",
+      "DriverVersion": "1.0.0",
+      "Description": "ZLAC8015D dual hub servo - truc phai",
+      "Connection": {
+        "CanInterface": "can0",
+        "NodeId": "1",
+        "Axis": "Right",
+        "CountsPerRevolution": 4096,
+        "SpeedResolution": 1,
+        "AccelTimeMs": 200,
+        "DecelTimeMs": 200,
+        "AutoReconnectEnabled": true,
+        "ReconnectDelayMs": 3000,
+        "MaxReconnectAttempts": 0,
+        "PdoConfigRetryCount": 3,
+        "PdoConfigRetryTimeoutMs": 1000,
+        "UseHeartbeatCheck": true
+      }
+    }
+  },
+  "Motion": {
+    "DifferentialDrive": {
+      "Enable": true,
+      "LeftWheel": {
+        "DeviceId": "left-wheel",
+        "Position": {
+          "Position": {
+            "X": 0.0,
+            "Y": 0.2,
+            "Z": 0.0
+          },
+          "Orientation": {
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067,
+            "W": 0.7071067
+          }
+        },
+        "WheelDiameter": 0.17,
+        "PulsesPerRevolution": 4096,
+        "IsReversed": false
+      },
+      "RightWheel": {
+        "DeviceId": "right-wheel",
+        "Position": {
+          "Position": {
+            "X": 0.0,
+            "Y": -0.2,
+            "Z": 0.0
+          },
+          "Orientation": {
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": -0.7071067,
+            "W": 0.7071067
+          }
+        },
+        "WheelDiameter": 0.17,
+        "PulsesPerRevolution": 4096,
+        "IsReversed": true
+      }
+    },
+    "ManualControl": {
+      "Enable": true,
+      "UsingKeyboard": true,
+      "MinLinearVelocity": 0.0,
+      "MaxLinearVelocity": 0.5,
+      "MinAngularVelocity": 0.0,
+      "MaxAngularVelocity": 0.3,
+      "UpdateRate": 20.0,
+      "Acceleration": 0.5,
+      "Deceleration": 0.5
+    }
+  },
+  "Cartographer": {
+    "Enable": false
+  }
+}