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修改moving backzero

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任立新
2022-02-14 11:10:02 +08:00
parent 9277b1aedd
commit 9c4a54f935
4 changed files with 115 additions and 29 deletions
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28
othersoft/shuttercali/source/LinearShutter/VSMD12XControl.h
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@ -58,7 +58,7 @@ public:
void ILMES_SetPosition(int *piPositionInPulse,size_t szSize);
bool ILMES_MoveToPos(int iPositionIndex);
bool IsMotionFinished();
public:
int waitetime;
////init port
@ -79,39 +79,39 @@ public:
bool GetStatus(MSInfo &stuMotorParam); //load motor status see MSInfo Struct
////motion control
bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool SetLogicZero(); //set logic zero
bool StartBackZero();//back zero
bool StopBackZero();// stop back zero & reset register
////Set&Get
bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600)
bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600)
int GetBaudRate(); // -1:should retry;
bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32)
bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32)
int GetMicroSteps();
bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000)
bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000)
float GetAccSpeed();
bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000)
bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000)
float GetRunSpeed();
bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000)
bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000)
float GetDecSpeed();
bool SetSpeed(float fRunSpeed, float fAccSpd, float fDecSpeed);//see above three functions
bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetHoldCurrent();
bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetAccCurrent();
bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetRunCurrent();
bool SetCurrent(float fAccCurrent, float fRunCurrent, float fHoldCurrent);//see above three functions
@ -129,7 +129,7 @@ public:
ZZ_U8 GetS2RETE();
//(ZeroMode 0:off 1:once 2:once + safe position 3:twice 4:twice + safe position) (OpenVoltageLevel 0:Low Level 1:High Level)
//(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>)
//(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>)
bool SetZeroParams(ZZ_U8 bZeroMode, ZZ_U8 bSwitchOpenVL, ZZ_U8 bZeroSensor, float fZeroVelocity, int iSafePosition);
ZZ_U8 GetZeroMode();
ZZ_U8 GetSwitchOpenVoltageLevel();