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VinceMotorControllerUsb.h

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+#pragma once
+#include <QObject>
+#include <QString>
+#include <QtSerialPort/QSerialPort>
+#include <QDebug>
+#include <iostream>
+
+#include "JsonOperate.h"
+#include "MotorControllerBase.h"
+
+#define MOTOR_SYNC     (0xFF)//֡ͷ
+#define MOTOR_ETX		(0xFE)//֡β
+
+#define MOTOR_disconnection		-1000000//<2F>ٶȵ<D9B6><C8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ<CDA8>쳣
+
+class VinceMotorControllerUsb :
+    public MotorControllerBase, QObject
+{
+    Q_OBJECT
+
+public:
+    VinceMotorControllerUsb(QString serialPort, QString paramJson, QObject* parent = nullptr);
+    ~VinceMotorControllerUsb();
+
+    void init(QString jsonPath);
+    int sendCommand2Motor(QString cmd);
+    bool isConnected();
+    void enable();
+
+    void move2Pos(double pos);
+    void move(bool towardOrigin);//true<75><65>Զ<EFBFBD><D4B6>ԭ<EFBFBD>㣬false<73><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>
+    void stopMove();
+    void setSpeed(double speed);
+    double getSpeed();
+    double getCurrentLoc();
+    void zeroStart();
+
+    int getSpeedLocation(double& speed, double& locatioin);
+    
+    State getState();
+    int recvData(QByteArray& dataRecv);
+    IrisMotorErrorCode parseBytedata(QByteArray buf, State& backdatt);
+    IrisMotorErrorCode extractOneValidFrame(QByteArray& buffer);
+    IrisMotorErrorCode parseOneValidFrame(QByteArray& buffer, State& result);
+
+private:
+    QSerialPort* m_pSerialPort;
+
+    double m_iSpeed;
+};