control.m

addpath('.\DM_CAN\');
clear;
motor1=Motor(DM_Motor_Type.DM4310, 0x01, 0x00);%设置电机id
motor2=Motor(DM_Motor_Type.DM4310, 0x02, 0x00);
MotorControl1 = MotorControl('COM8',921600);%串口号和波特率
MotorControl1.addMotor(motor1);
MotorControl1.addMotor(motor2);
MotorControl1.switchControlMode(motor1,Control_Type.VEL);
MotorControl1.switchControlMode(motor2,Control_Type.POS_VEL);
MotorControl1.save_motor_param(motor1);
MotorControl1.save_motor_param(motor2);
MotorControl1.enable(motor1);%使能电机要放在最后
MotorControl1.enable(motor2);
motors = {motor1,motor2};
for i = 1:length(motors)
    motor = motors{i};
    disp("  ");
    fprintf('Motor%d:\n', i);

    if MotorControl1.change_motor_param(motor,DM_Reg.KP_APR,54)
        disp('change KP_APR success!!!!!');
    end
    disp(['KP_APR:',num2str(MotorControl1.read_motor_param(motor, DM_Reg.KP_APR))]);
    disp(['MST_ID:', num2str(MotorControl1.read_motor_param(motor, DM_Reg.MST_ID))]);
    disp(['VMAX:', num2str(MotorControl1.read_motor_param(motor, DM_Reg.VMAX))]);
    disp(['TMAX:', num2str(MotorControl1.read_motor_param(motor, DM_Reg.TMAX))]);
    disp(['sub_ver:', num2str(MotorControl1.read_motor_param(motor, DM_Reg.sub_ver))]);
    if MotorControl1.change_motor_param(motor,DM_Reg.UV_Value,12.6)
        disp('change UV_Value success!!!!');
    end
    disp(['UV_Value:', num2str(MotorControl1.read_motor_param(motor, DM_Reg.UV_Value))]);
end
for index =1: 10000
    y=sin(index/100);
    MotorControl1.control_Vel(motor1, y*10);
    MotorControl1.control_Pos_Vel(motor2,y*10,5);
    % MotorControl1.controlMIT(motor2,30,0.4,y*5,0,0);
    % disp(['Motor1--vel:',num2str(motor1.getVelocity()),'pos:',num2str(motor1.getPosition()),'tau:',num2str(motor1.getTorque())]);
    % MotorControl1.refresh_motor_status(motor2);
    % disp(['Motor2--vel:',num2str(motor2.getVelocity()),'pos:',num2str(motor2.getPosition()),'tau:',num2str(motor2.getTorque())]);
    pause(0.001);
end
disp("end");
delete(MotorControl1.serial_);