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update motor

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Co-authored-by: Copilot <copilot@github.com>
This commit is contained in:
QUYVN
2026-07-13 16:28:07 +07:00
parent bccfb156d7
commit dddf3fc594
9 changed files with 2142 additions and 48 deletions
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70
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
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@@ -70,7 +70,7 @@
},
"MBDV_Servo01": {
"DeviceId": "right-wheel",
"Enabled": true,
"Enabled": false,
"DeviceType": "CiA402Servo",
"DeviceName": "Right Wheel Servo",
"DriverName": "CiA402Servo",
@@ -139,7 +139,7 @@
},
"MBDV_Servo02": {
"DeviceId": "left-wheel",
"Enabled": true,
"Enabled": false,
"DeviceType": "CiA402Servo",
"DeviceName": "Left Wheel Servo",
"DriverName": "CiA402Servo",
@@ -206,8 +206,56 @@
}
}
},
"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 (1 node CAN dieu khien ca 2 banh, cung NodeId voi truc phai)",
"Connection": {
"CanInterface": "can0",
"NodeId": "1",
"Axis": "Left",
"CountsPerRevolution": 4096,
"SpeedResolution": 10,
"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 (1 node CAN dieu khien ca 2 banh, cung NodeId voi truc trai)",
"Connection": {
"CanInterface": "can0",
"NodeId": "1",
"Axis": "Right",
"CountsPerRevolution": 4096,
"SpeedResolution": 10,
"AccelTimeMs": 200,
"DecelTimeMs": 200,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": true
}
},
"MDX_Servo03": {
"DeviceId": "lift-motor",
"DeviceId": "lift-motor",
"Enabled": false,
"DeviceType": "CiA402Servo",
"DeviceName": "Lift Motor",
@@ -469,7 +517,7 @@
},
"Olei-front": {
"DeviceId": "scan_1",
"Enabled": true,
"Enabled": false,
"DeviceName": "Olei LR-1BS2",
"DeviceType": "Lidar",
"DriverName": "Olei2dLidarDriver",
@@ -494,7 +542,7 @@
},
"Olei-rear": {
"DeviceId": "scan_2",
"Enabled": true,
"Enabled": false,
"DeviceName": "Olei LR-1BS5",
"DeviceType": "Lidar",
"DriverName": "OleiLidarDriver",
@@ -618,7 +666,7 @@
},
"WheeltecIMU": {
"DeviceId": "imu",
"Enabled": true,
"Enabled": false,
"DeviceName": "Wheetec N100 IMU",
"DeviceType": "IMU",
"DriverName": "WheeltecN100IMU",
@@ -657,7 +705,7 @@
},
"PLC": {
"DeviceId": "plc-001",
"Enabled": true,
"Enabled": false,
"DeviceName": "PLC_Controller",
"DeviceType": "ModbusTcp",
"DriverName": "ModbusTCP",
@@ -771,7 +819,7 @@
}
},
"WheelDiameter": 0.195,
"PulsesPerRevolution": 100000,
"PulsesPerRevolution": 4096,
"IsReversed": false
},
"RightWheel": {
@@ -790,7 +838,7 @@
}
},
"WheelDiameter": 0.195,
"PulsesPerRevolution": 100000,
"PulsesPerRevolution": 4096,
"IsReversed": true
}
},
@@ -815,12 +863,12 @@
"LeftWheel": {
"DeviceId": "left-wheel",
"WheelDiameter": 0.182,
"PulsesPerRevolution": 100000
"PulsesPerRevolution": 4096
},
"RightWheel": {
"DeviceId": "right-wheel",
"WheelDiameter": 0.182,
"PulsesPerRevolution": 100000
"PulsesPerRevolution": 4096
},
"Wheelbase": 0.452,
"FrameId": "odom",