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https://github.com/deepmodeling/Uni-Lab-OS
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feat: add ZDT_X42 motor and XKC sensor drivers
This commit is contained in:
ZiWei
286
unilabos/registry/devices/motor.yaml
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286
unilabos/registry/devices/motor.yaml
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motor.zdt_x42:
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category:
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- motor
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class:
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action_value_mappings:
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auto-enable:
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feedback: {}
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goal: {}
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goal_default:
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'on': true
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
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properties:
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feedback: {}
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goal:
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properties:
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'on':
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default: true
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type: boolean
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required: []
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type: object
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result: {}
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required:
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- goal
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title: enable参数
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type: object
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type: UniLabJsonCommand
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auto-get_position:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 获取当前电机脉冲位置。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result:
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properties:
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position:
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type: integer
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type: object
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required:
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- goal
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title: get_position参数
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type: object
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type: UniLabJsonCommand
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auto-move_position:
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feedback: {}
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goal: {}
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goal_default:
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absolute: false
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acceleration: 10
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direction: CW
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pulses: 1000
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
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properties:
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feedback: {}
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goal:
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properties:
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absolute:
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default: false
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type: boolean
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acceleration:
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default: 10
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maximum: 255
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minimum: 0
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type: integer
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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pulses:
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default: 1000
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type: integer
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speed_rpm:
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default: 60
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minimum: 0
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type: integer
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required:
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- pulses
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- speed_rpm
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type: object
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result: {}
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required:
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- goal
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title: move_position参数
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type: object
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type: UniLabJsonCommand
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auto-move_speed:
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feedback: {}
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goal: {}
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goal_default:
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acceleration: 10
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direction: CW
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 速度模式运行。控制电机以指定转速和方向持续转动。
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properties:
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feedback: {}
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goal:
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properties:
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acceleration:
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default: 10
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maximum: 255
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minimum: 0
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type: integer
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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speed_rpm:
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default: 60
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minimum: 0
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type: integer
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required:
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- speed_rpm
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type: object
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result: {}
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required:
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- goal
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title: move_speed参数
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type: object
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type: UniLabJsonCommand
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auto-rotate_quarter:
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feedback: {}
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goal: {}
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goal_default:
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direction: CW
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speed_rpm: 60
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 电机旋转 1/4 圈 (阻塞式)。
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properties:
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feedback: {}
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goal:
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properties:
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direction:
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default: CW
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enum:
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- CW
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- CCW
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type: string
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speed_rpm:
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default: 60
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minimum: 1
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type: integer
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required: []
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type: object
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result: {}
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required:
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- goal
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title: rotate_quarter参数
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type: object
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type: UniLabJsonCommand
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auto-set_zero:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 将当前电机位置设为零点。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: set_zero参数
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type: object
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type: UniLabJsonCommand
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auto-stop:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 立即停止电机运动。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: stop参数
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type: object
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type: UniLabJsonCommand
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auto-wait_time:
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feedback: {}
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goal: {}
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goal_default:
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duration_s: 1.0
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 等待指定时间 (秒)。
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properties:
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feedback: {}
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goal:
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properties:
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duration_s:
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default: 1.0
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minimum: 0
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type: number
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required:
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- duration_s
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type: object
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result: {}
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required:
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- goal
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title: wait_time参数
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type: object
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type: UniLabJsonCommand
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module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
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status_types:
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position: int
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status: str
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type: python
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config_info: []
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description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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baudrate:
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default: 115200
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type: integer
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debug:
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default: false
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type: boolean
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device_id:
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default: 1
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type: integer
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port:
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type: string
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timeout:
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default: 0.5
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type: number
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required:
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- port
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type: object
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data:
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properties:
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position:
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type: integer
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status:
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type: string
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required:
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- status
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- position
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type: object
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version: 1.0.0
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