Abstract: The present application relates to the technical field of communications. Disclosed are a control method for a real-time channel group, a network system, and a storage medium. The method comprises: after a first real-time channel group creation request is received, any node in a network domain joining a first real-time channel group, and initiating system clock synchronization to nodes in the first real-time channel group, such that the nodes in the first real-time channel group all use the same system clock; after a second real-time channel group creation request is received, any node in the first real-time channel group serving as a shared node and joining a second real-time channel group; and the nodes in each real-time channel group triggering, according to an execution cycle and an interruption duration, a channel group message parsing request of each real-time channel group, so as to extract a channel group message of the real-time channel group for parsing processing.

Abstract: A control method for a real-time channel group comprises: after a first real-time channel group creation request is received, joining any node to a first real-time channel group, and initiating system clock synchronization to nodes in the first real-time channel group; after a second real-time channel group creation request is received, joining any node in the first real-time channel group as a shared node to a second real-time channel group; and triggering a channel group packet parsing request according to an execution cycle and an interruption duration to extract a channel group packet for parsing processing. By means of a plurality of real-time channel groups sharing at least one node, system clock synchronization is realized, the number of nodes of real-time channel groups needing to be managed is reduced, and the efficient transmission of a real-time packet is realized.

Abstract: A device debugging method includes according to a first thread to be created and a breakpoint set, determining that the first thread contains a corresponding breakpoint; injecting a hook function into the first thread, and creating a first thread and executing in a debugging mode; if the hook function is invoked, determining whether a triggering condition of the breakpoint is satisfied; if not, directly exiting the hook function; if so, stopping the code running of the first thread, waiting, and executing a debug instruction. Therefore, the device is integrated with both functionalities of debugging and actual execution due to the breakpoint set for debugging configured on the device, the actual result of each debugging can be observed in real time, and the hook functions of different threads operate independently and do not interfere, thus multithread debugging can be achieved, and debugging efficiency is improved.

Abstract: Provided is a robot. The robot includes a base (1), a mechanical arm (2), and a driver controller integrated board (3). The mechanical arm (2) is movably mounted on the base (1). The driver controller integrated board (3) is disposed on the base (1), is configured to control the mechanical arm (2) to move, and includes a control module (31), a drive module (32), and a substrate (33). The control module (31) and the drive module (32) are disposed on the substrate (33), and the control module (31) is electrically connected to the drive module (32).

Abstract: A highly-environment-friendly disposable PP spray oil for toys, which includes the following components in parts by mass: 30 to 69.3 parts of ester-soluble chlorinated polypropylene resin, 3 to 6 parts of chlorinated polyether resin, 5 to 8 parts of high-Tg-value acrylic resin, 4 to 6 parts of benzene-free and ketone-free alkyd resin, 3 to 5 parts of keto-aldehyde resin, 2 to 4 parts of PP adhesion promoter, 0.1 to 0.5 part of leveling agent, 0.1 to 0.5 part of defoamer, 3 to 5 parts of propylene glycol methyl ether acetate, 8 to 15 parts of butyl acetate and 2.5 to 20 parts of toner. The disposable PP spray oil may be directly sprayed to a PP substrate without any pretreatment. A paint film prepared from the disposable PP spray oil will not be corroded or decolorized after being wiped with a sanitizer for one minute, especially instant hand sanitizers.

Abstract: Provided are a driver controller integrated board, a control system, and a robot. The driver controller integrated board includes a control module (1), a drive module (2), and a first substrate (3). The control module (1) and the drive module (2) are disposed on the first substrate (3), and the control module (1) is electrically connected to the drive module (2).

Abstract: Provided is a robot. The robot includes a driver controller integrated board (3) and an arm body (21). The driver controller integrated board (3) includes a control module (31), a drive module (32), and a substrate (33). The control module (31) and the drive module (32) are disposed on the substrate (33). The control module (31) is electrically connected to the drive module (32). The driver controller integrated board (3) is disposed on the arm body (21).

Abstract: Disclosed are an encoder signal sampling method and device. According to the method and device, a data frequency of the encoder is obtained, a clock frequency is determined according to the data frequency, a high-frequency clock signal is generated based on the clock frequency, an input signal of the encoder is sampled based on the high-frequency clock signal to obtain a sampled signal, and finally denoising processing is performed on the sampled signal based on a preset algorithm by a processer.

Abstract: Disclosed are an encoder signal sampling method and device, which relate to the technical field of servo control. According to the method and device, a data frequency of the encoder is obtained, a clock frequency is determined according to the data frequency, a high-frequency clock signal is generated based on the clock frequency, an input signal of the encoder is sampled based on the high-frequency clock signal to obtain a sampled signal, and finally denoising processing is performed on the sampled signal based on a preset algorithm by a processer. The input signal of the encoder is sampled by utilizing the high-frequency clock signal to obtain more sampling points so that enough signal samples are obtained for subsequent data analysis and denoising.