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添加了 归零等操作

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增加了testdll 样例
This commit is contained in:
xin
2020-09-03 14:52:28 +08:00
parent 4f5169ed2f
commit 495f947827
30 changed files with 1051 additions and 42 deletions
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91
vincecontrol.cpp
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@ -80,7 +80,7 @@ void VinceControl::Handshacke(QString motorid)
str.append(buf);
SendLog(str);
}
initMotor(motorid);
}
void VinceControl::SetRS485ID(QString id)
@ -375,26 +375,89 @@ void VinceControl::initme()
}
void VinceControl::initMotor(QString motornetid /*= "non"*/)
{
QByteArray buf;
//<2F><><EFBFBD><EFBFBD>s1<73>½<EFBFBD>ʱֹͣ<CDA3><D6B9>ת
QString commonstr = "cfg s1f=2\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg zmd=1\n";//<2F><><EFBFBD>㳢<EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg snr=0\n";//<2F><><EFBFBD>㴫<EFBFBD><E3B4AB><EFBFBD><EFBFBD>
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg osv=0\n";//<2F><><EFBFBD>㴫<EFBFBD><E3B4AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD>ƿΪ<C6BF>͵<EFBFBD>ƽ
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
commonstr = "cfg zsd=3000\n";//<2F><><EFBFBD>㴫<EFBFBD><E3B4AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD>ƿΪ<C6BF>͵<EFBFBD>ƽ
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD>ø<EFBFBD><C3B8><EFBFBD><EFBFBD>޴<EFBFBD><DEB4><EFBFBD><EFBFBD><EFBFBD>
commonstr = "cfg msr=1\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD>ü<EFBFBD><C3BC>޴<EFBFBD><DEB4><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
commonstr = "cfg msv=0\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD><EFBFBD>s2<73>½<EFBFBD>ʱֹͣ<CDA3><D6B9>ת
commonstr = "cfg s2f=2\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޴<EFBFBD><DEB4><EFBFBD><EFBFBD><EFBFBD>
commonstr = "cfg psr=2\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޴<EFBFBD><DEB4><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
commonstr = "cfg psv=0\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
}
void VinceControl::MovetoZero(QString motornetid )
{
MoveToLocation(0, motornetid);
}
long VinceControl::GetLocationNow()
{
return 10000;
}
void VinceControl::MoveToLocation(long Location)
long VinceControl::GetLocationNow(QString motornetid)
{
ByteBack back = GetState(motornetid);
return back.Location;
}
void VinceControl::SettingUpandDownSpeed(int addspeed, int downspeed)
void VinceControl::MoveToLocation(long Location, QString motornetid)
{
QString commonstr = "pos "+QString::number(Location)+"\n";
SendCommandtoMotor(commonstr, motornetid);
QByteArray buf;
GetCommonRetrun(buf, motornetid);
TranslateBytedata(buf, motornetid);
}
void VinceControl::SettingUpandDownSpeed(int addspeed, int downspeed, QString motornetid)
{
//<2F><><EFBFBD>ü<EFBFBD><C3BC>ٶ<EFBFBD>
QString commonstr = "cfg acc=" + QString::number(addspeed) + "\n";
SendCommandtoMotor(commonstr, motornetid);
QByteArray buf;
GetCommonRetrun(buf, motornetid);
TranslateBytedata(buf, motornetid);
//<2F><><EFBFBD>ü<EFBFBD><C3BC>ٶ<EFBFBD>
commonstr = "cfg dec=" + QString::number(addspeed) + "\n";
SendCommandtoMotor(commonstr, motornetid);
GetCommonRetrun(buf, motornetid);
TranslateBytedata(buf, motornetid);
}
void VinceControl::StopMotormove(QString motornetid )
{
QString commonstr = "stp\n";
@ -405,6 +468,8 @@ void VinceControl::StopMotormove(QString motornetid )
}
ByteBack VinceControl::GetState(QString motorid /*= "non"*/)
{
QString commonstr = "cts\n";
@ -415,6 +480,16 @@ ByteBack VinceControl::GetState(QString motorid /*= "non"*/)
return back;
}
void VinceControl::SettingZeroLocation(QString motorid /*= "non"*/)
{
QString commonstr = "zero start\n";
SendCommandtoMotor(commonstr, motorid);
//
QByteArray buf;
GetCommonRetrun(buf, motorid);
}
VinceControl::VinceControl(ProTools proto, int port)
{
//VinceControl(proto);