51 lines
1.3 KiB
C++
51 lines
1.3 KiB
C++
#pragma once
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#include <QObject>
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#include <QString>
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#include <QtSerialPort/QSerialPort>
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#include <QDebug>
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#include <iostream>
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#include "JsonOperate.h"
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#include "MotorControllerBase.h"
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#define MOTOR_SYNC (0xFF)//帧头
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#define MOTOR_ETX (0xFE)//帧尾
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#define MOTOR_disconnection -1000000//速度等于这个数就代表马达通讯异常
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class VinceMotorControllerUsb :
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public MotorControllerBase, QObject
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{
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Q_OBJECT
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public:
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VinceMotorControllerUsb(QString serialPort, QString paramJson, QObject* parent = nullptr);
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~VinceMotorControllerUsb();
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void init(QString jsonPath);
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int sendCommand2Motor(QString cmd);
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bool isConnected();
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void enable();
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void move2Pos(double pos);
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void move(bool towardOrigin);//true：远离原点，false：靠近原点
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void stopMove();
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void setSpeed(double speed);
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double getSpeed();
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double getCurrentLoc();
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void zeroStart();
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int getSpeedLocation(double& speed, double& locatioin);
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State getState();
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int recvData(QByteArray& dataRecv);
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IrisMotorErrorCode parseBytedata(QByteArray buf, State& backdatt);
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IrisMotorErrorCode extractOneValidFrame(QByteArray& buffer);
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IrisMotorErrorCode parseOneValidFrame(QByteArray& buffer, State& result);
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private:
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QSerialPort* m_pSerialPort;
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double m_iSpeed;
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};
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