�组保留的标签 余下为需要删除的标签
                unset($oldtag[$key]);
            }
        }
    }
    

    if (!empty($oldtag)) {
        $tagids = array();
        foreach ($oldtag as $tagid => $tagname) {
            $tagids[] = $tagid;
        }

        well_oldtag_delete($tagids, $tid);
    }

    $r = well_tag_process($tid, $fid, $create_tag, $tagarr);

    

    return $r;
}

// 删除标签和绑定的主题
function well_oldtag_delete($tagids, $tid)
{
    

    $pagesize = count($tagids);
    $arrlist = well_tag_find_by_tagids($tagids, 1, $pagesize);

    

    $delete_tagids = array(); // 删除
    $tagids = array();
    $n = 0;
    foreach ($arrlist as $val) {
        ++$n;
        
        if (1 == $val['count']) {
            // 只有一个主题
            $delete_tagids[] = $val['tagid'];
            
        } else {
            $tagids[] = $val['tagid'];
        }
        
    }

    

    !empty($delete_tagids) and well_tag_delete($delete_tagids);

    $arlist = well_tag_thread_find_by_tid($tid, 1, $n);
    if ($arlist) {
        $ids = array();
        foreach ($arlist as $val) $ids[] = $val['id'];

        well_tag_thread_delete($ids);
    }

    !empty($tagids) and well_tag_update($tagids, array('count-' => 1));

    
}

// 标签数据处理 $arr=新提交的数组 $tagarr=保留的旧标签
function well_tag_process($tid, $fid, $new_tags = array(), $tagarr = array())
{
    if (empty($tid)) return '';

    

    // 新标签处理入库
    if ($new_tags) {

        

        $threadarr = array();
        $tagids = array();
        $i = 0;
        $size = 5;
        $n = count($tagarr);
        $n = $n > $size ? $size : $size - $n;

        

        foreach ($new_tags as $name) {
            ++$i;
            $name = trim($name);
            $name = stripslashes($name);
            $name = strip_tags($name);
            $name = str_replace(array('&nbsp;', '#', "@", "$", "%", "^", '&', '·', '<', '>', '；', '`', '~', '!', '￥', '……', ';', '?', '？', '-', '—', '_', '=', '+', '.', '{', '}', '|', ':', '：', '、', '/', '。', '[', ']', '【', '】', '‘', '	', '    ', '  ', '   ', '    '), '', $name);
            $name = htmlspecialchars($name, ENT_QUOTES);
            if ($name && $i <= $n) {
                
                // 查询标签
                $read = well_tag_read_name($name);
                
                if ($read) {
                    // 存在 count+1
                    $tagids[] = $read['tagid'];
                    
                } else {
                    // 入库
                    $arr = array('name' => $name, 'count' => 1);
                    
                    $tagid = well_tag_create($arr);
                    FALSE === $tagid and message(-1, lang('create_failed'));
                    $read = array('tagid' => $tagid, 'name' => $name);
                    
                }

                $tag_thread = array('tagid' => $read['tagid'], 'tid' => $tid);

                

                $threadarr[] = $tag_thread;

                

                $tagarr[$read['tagid']] = $read['name'];
            }
        }

        

        !empty($threadarr) and tag_thread_big_insert($threadarr);

        !empty($tagids) and well_tag_update($tagids, array('count+' => 1));
    }

    

    $json = empty($tagarr) ? '' : xn_json_encode($tagarr);

    

    return $json;
}




?>   $v = implode(",", $v);
        $temp[] = $v;
    }
    // 去掉重复的字符串,也就是重复的一维数组
    $temp = array_unique($temp);
    // 再将拆开的数组重新组装
    $output = array();
    foreach ($temp as $k => $v) {
        if ($stkeep) $k = $starr[$k];
        if ($ndformat) {
            $temparr = explode(",", $v);
            foreach ($temparr as $ndkey => $ndval) $output[$k][$ndarr[$ndkey]] = $ndval;
        } else $output[$k] = explode(",", $v);
    }
    return $output;
}

// 合并二维数组 如重复 值以第一个数组值为准
function array2_merge($array1, $array2, $key = '')
{
    if (empty($array1) || empty($array2)) return NULL;
    $arr = array();
    foreach ($array1 as $k => $v) {
        isset($v[$key]) ? $arr[$v[$key]] = array_merge($v, $array2[$k]) : $arr[] = array_merge($v, $array2[$k]);
    }
    return $arr;
}

/*
 * 对二维数组排序 两个数组必须有一个相同的键值
 * $array1 需要排序数组
 * $array2 按照该数组key排序
 * */
function array2_sort_key($array1, $array2, $key = '')
{
    if (empty($array1) || empty($array2)) return NULL;
    $arr = array();
    foreach ($array2 as $k => $v) {
        if (isset($v[$key]) && $v[$key] == $array1[$v[$key]][$key]) {
            $arr[$v[$key]] = $array1[$v[$key]];
        } else {
            $arr[] = $v;
        }
    }

    return $arr;
}




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<a href="/biancheng">编程之家</a><a href="/biancheng/1754765016a2641099.html" title="首页">ros 写node 存储数据到txt_ROS MoveIt平台结合NODE-RED控制一个MIT电机</a></div></div></div><div class="fzithome-com main container-w cl"><div class="fzithome-com mainl"><div class="fzithome-com art-post"><div class="fzithome-com title"><h1>ros 写node 存储数据到txt_ROS MoveIt平台结合NODE-RED控制一个MIT电机</h1><div class="fzithome-com info"><span><a href="/biancheng"><i class="iconfont icon-crossborder-fill"></i>编程之家</a></span><span><i class="iconfont icon-browse"></i>86</span><span><i class="iconfont icon-message-fill"></i>0</span><span>
                        更新时间：2026-04-03 20:29:45</span></div></div><div class="fzithome-com art-content"><article class="single-post"><div class="fzithome-com entry"><ol> 
  <li>0 MIT电机的CAN驱动配置</li> 
 </ol> 
 <p></p> 
  
   
  
 <p>首先需要硬件，我有1台智擎的电机，1台海泰HT-03电机，一台普通的工控机（买来是WIN7，自己用U盘重装成ubuntu 16，再安装ros-kinetic），一套价格300左右的底架工装（youtube上很多国外网友用的3D打印，我觉得那个一来耗时间，二来速度快了容易碎裂）</p> 
 <p>不需要写额外的上位机代码，就可以用命令行形式来驱动跟监听电机状态</p> 
 <p>再去某宝上买好USB2CAN的模块，价格100左右</p> 
 <p>然后在linux上设置</p> 
  
  <pre ><code>sudo modprobe can
sudo modprobe vcan
sudo modprobe slcan
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up</code></pre> 
  
 <p>注意：某宝上的USB2CAN模块比较多，不要买太便宜的几十块钱的，便宜货是基于CH340芯片做的通信，那玩意儿传输速度太慢. MIT电机需要100K的CAN BUS2.0 的传输速度</p> 
 <p>电源为24V，功率要足够，如果担心买来的开关电源功率不足，就挥霍一下买个二手的中信的ZXD2400可调电源，700左右。</p> 
 <p>因为你调MIT电机，将来肯定还要用T-MOTOR家的电机，24V , 36V , 48V的都要测试，所以电源还是好一点</p> 
 <p>如果是WINDOWS平台的话，简易购买 汽车诊断卡 来做调试，那玩意儿更方便，上位机代码改起来简单。汽车工业领域的CAN通信是很成熟的东西。</p> 
 <p>海泰电机官方的两百多一个的</p></div></article></div><div class="fzithome-com info"><div><span>本文发布于:2025-08-10，感谢您对本站的认可！</span></div><div><span>本文链接:</span><a href="https://www.fzithome.com/biancheng/1754765016a2641099.html" title="ros 写node 存储数据到txt_ROS MoveIt平台结合NODE-RED控制一个MIT电机">https://www.fzithome.com/biancheng/1754765016a2641099.html</a></div><div><span>版权声明:本站内容均来自互联网，仅供演示用，请勿用于商业和其他非法用途。如果侵犯了您的权益请与我们联系，我们将在24小时内删除。</span></div></div><span class="tag"><i class="iconfont icon-discount" style="font-size:12px;font-weight:bold;opacity:.7;">本文标签：</i><a href="/tag/2751.html" target="_blank">电机</a><a href="/tag/235.html" target="_blank">数据</a><a href="/tag/472.html" target="_blank">平台</a><a href="/tag/227115.html" target="_blank">txtROS</a><a href="/tag/68031.html" target="_blank">node</a></span></div><div class="fzithome-com post_comments" id="comments"><div id="comt-respond" class="commentpost"><h4>发布评论
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