| abstract |
The invention relates to the field of robot physical controller hardware, in particular to a robot controller simulation platform and a virtual method thereof, wherein the platform comprises: the system comprises a micro-processing unit, a driving unit and a storage unit, and comprises the following specific steps: s1, constructing a software framework; s2, in a drive development layer, physically mapping each drive part such as can, uart, emac and spi; s3, simulating by using software, and providing an interface for starting and interacting with external equipment; s4, fusing a GDB debugging technology to complete a real-time online debugging and diagnosing function; s5, reconstructing source codes and function codes, and integrating to form a complete set of robot controller virtualization technical scheme which is easy for developers to modify and develop. |