添加了 归零等操作

增加了testdll 样例

testdll/GeneratedFiles/Debug/moc_testdll.cpp

@@ -0,0 +1,131 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'testdll.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.8.0)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "../../testdll.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'testdll.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.8.0. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_testdll_t {
+    QByteArrayData data[8];
+    char stringdata0[65];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_testdll_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_testdll_t qt_meta_stringdata_testdll = {
+    {
+QT_MOC_LITERAL(0, 0, 7), // "testdll"
+QT_MOC_LITERAL(1, 8, 12), // "onbeginstart"
+QT_MOC_LITERAL(2, 21, 0), // ""
+QT_MOC_LITERAL(3, 22, 10), // "onfanzhuan"
+QT_MOC_LITERAL(4, 33, 6), // "onstop"
+QT_MOC_LITERAL(5, 40, 8), // "onlogcom"
+QT_MOC_LITERAL(6, 49, 3), // "str"
+QT_MOC_LITERAL(7, 53, 11) // "oninfomotor"
+
+    },
+    "testdll\0onbeginstart\0\0onfanzhuan\0"
+    "onstop\0onlogcom\0str\0oninfomotor"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_testdll[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       5,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    0,   39,    2, 0x0a /* Public */,
+       3,    0,   40,    2, 0x0a /* Public */,
+       4,    0,   41,    2, 0x0a /* Public */,
+       5,    1,   42,    2, 0x0a /* Public */,
+       7,    0,   45,    2, 0x0a /* Public */,
+
+ // slots: parameters
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void, QMetaType::QString,    6,
+    QMetaType::Void,
+
+       0        // eod
+};
+
+void testdll::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        testdll *_t = static_cast<testdll *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->onbeginstart(); break;
+        case 1: _t->onfanzhuan(); break;
+        case 2: _t->onstop(); break;
+        case 3: _t->onlogcom((*reinterpret_cast< QString(*)>(_a[1]))); break;
+        case 4: _t->oninfomotor(); break;
+        default: ;
+        }
+    }
+}
+
+const QMetaObject testdll::staticMetaObject = {
+    { &QMainWindow::staticMetaObject, qt_meta_stringdata_testdll.data,
+      qt_meta_data_testdll,  qt_static_metacall, Q_NULLPTR, Q_NULLPTR}
+};
+
+
+const QMetaObject *testdll::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *testdll::qt_metacast(const char *_clname)
+{
+    if (!_clname) return Q_NULLPTR;
+    if (!strcmp(_clname, qt_meta_stringdata_testdll.stringdata0))
+        return static_cast<void*>(const_cast< testdll*>(this));
+    return QMainWindow::qt_metacast(_clname);
+}
+
+int testdll::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = QMainWindow::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 5)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 5;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 5)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 5;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE

testdll/GeneratedFiles/qrc_testdll.cpp

@@ -0,0 +1,46 @@
+/****************************************************************************
+** Resource object code
+**
+** Created by: The Resource Compiler for Qt version 5.8.0
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#ifdef QT_NAMESPACE
+#  define QT_RCC_PREPEND_NAMESPACE(name) ::QT_NAMESPACE::name
+#  define QT_RCC_MANGLE_NAMESPACE0(x) x
+#  define QT_RCC_MANGLE_NAMESPACE1(a, b) a##_##b
+#  define QT_RCC_MANGLE_NAMESPACE2(a, b) QT_RCC_MANGLE_NAMESPACE1(a,b)
+#  define QT_RCC_MANGLE_NAMESPACE(name) QT_RCC_MANGLE_NAMESPACE2( \
+        QT_RCC_MANGLE_NAMESPACE0(name), QT_RCC_MANGLE_NAMESPACE0(QT_NAMESPACE))
+#else
+#   define QT_RCC_PREPEND_NAMESPACE(name) name
+#   define QT_RCC_MANGLE_NAMESPACE(name) name
+#endif
+
+#ifdef QT_NAMESPACE
+namespace QT_NAMESPACE {
+#endif
+
+#ifdef QT_NAMESPACE
+}
+#endif
+
+int QT_RCC_MANGLE_NAMESPACE(qInitResources_testdll)();
+int QT_RCC_MANGLE_NAMESPACE(qInitResources_testdll)()
+{
+    return 1;
+}
+
+int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_testdll)();
+int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_testdll)()
+{
+    return 1;
+}
+
+namespace {
+   struct initializer {
+       initializer() { QT_RCC_MANGLE_NAMESPACE(qInitResources_testdll)(); }
+       ~initializer() { QT_RCC_MANGLE_NAMESPACE(qCleanupResources_testdll)(); }
+   } dummy;
+}

testdll/GeneratedFiles/ui_testdll.h

@@ -0,0 +1,149 @@
+/********************************************************************************
+** Form generated from reading UI file 'testdll.ui'
+**
+** Created by: Qt User Interface Compiler version 5.8.0
+**
+** WARNING! All changes made in this file will be lost when recompiling UI file!
+********************************************************************************/
+
+#ifndef UI_TESTDLL_H
+#define UI_TESTDLL_H
+
+#include <QtCore/QVariant>
+#include <QtWidgets/QAction>
+#include <QtWidgets/QApplication>
+#include <QtWidgets/QButtonGroup>
+#include <QtWidgets/QHBoxLayout>
+#include <QtWidgets/QHeaderView>
+#include <QtWidgets/QLabel>
+#include <QtWidgets/QLineEdit>
+#include <QtWidgets/QMainWindow>
+#include <QtWidgets/QMenuBar>
+#include <QtWidgets/QPushButton>
+#include <QtWidgets/QSpacerItem>
+#include <QtWidgets/QStatusBar>
+#include <QtWidgets/QTextEdit>
+#include <QtWidgets/QToolBar>
+#include <QtWidgets/QVBoxLayout>
+#include <QtWidgets/QWidget>
+
+QT_BEGIN_NAMESPACE
+
+class Ui_testdllClass
+{
+public:
+    QWidget *centralWidget;
+    QVBoxLayout *verticalLayout;
+    QHBoxLayout *horizontalLayout_2;
+    QLabel *label;
+    QLineEdit *lineEdit;
+    QSpacerItem *horizontalSpacer;
+    QHBoxLayout *horizontalLayout;
+    QPushButton *startmotor;
+    QPushButton *pushButton;
+    QPushButton *pushButton_3;
+    QPushButton *pushButton_2;
+    QTextEdit *textEdit;
+    QMenuBar *menuBar;
+    QToolBar *mainToolBar;
+    QStatusBar *statusBar;
+
+    void setupUi(QMainWindow *testdllClass)
+    {
+        if (testdllClass->objectName().isEmpty())
+            testdllClass->setObjectName(QStringLiteral("testdllClass"));
+        testdllClass->resize(600, 400);
+        centralWidget = new QWidget(testdllClass);
+        centralWidget->setObjectName(QStringLiteral("centralWidget"));
+        verticalLayout = new QVBoxLayout(centralWidget);
+        verticalLayout->setSpacing(6);
+        verticalLayout->setContentsMargins(11, 11, 11, 11);
+        verticalLayout->setObjectName(QStringLiteral("verticalLayout"));
+        horizontalLayout_2 = new QHBoxLayout();
+        horizontalLayout_2->setSpacing(6);
+        horizontalLayout_2->setObjectName(QStringLiteral("horizontalLayout_2"));
+        label = new QLabel(centralWidget);
+        label->setObjectName(QStringLiteral("label"));
+
+        horizontalLayout_2->addWidget(label);
+
+        lineEdit = new QLineEdit(centralWidget);
+        lineEdit->setObjectName(QStringLiteral("lineEdit"));
+
+        horizontalLayout_2->addWidget(lineEdit);
+
+        horizontalSpacer = new QSpacerItem(40, 20, QSizePolicy::Expanding, QSizePolicy::Minimum);
+
+        horizontalLayout_2->addItem(horizontalSpacer);
+
+
+        verticalLayout->addLayout(horizontalLayout_2);
+
+        horizontalLayout = new QHBoxLayout();
+        horizontalLayout->setSpacing(6);
+        horizontalLayout->setObjectName(QStringLiteral("horizontalLayout"));
+        startmotor = new QPushButton(centralWidget);
+        startmotor->setObjectName(QStringLiteral("startmotor"));
+
+        horizontalLayout->addWidget(startmotor);
+
+        pushButton = new QPushButton(centralWidget);
+        pushButton->setObjectName(QStringLiteral("pushButton"));
+
+        horizontalLayout->addWidget(pushButton);
+
+        pushButton_3 = new QPushButton(centralWidget);
+        pushButton_3->setObjectName(QStringLiteral("pushButton_3"));
+
+        horizontalLayout->addWidget(pushButton_3);
+
+        pushButton_2 = new QPushButton(centralWidget);
+        pushButton_2->setObjectName(QStringLiteral("pushButton_2"));
+
+        horizontalLayout->addWidget(pushButton_2);
+
+
+        verticalLayout->addLayout(horizontalLayout);
+
+        textEdit = new QTextEdit(centralWidget);
+        textEdit->setObjectName(QStringLiteral("textEdit"));
+
+        verticalLayout->addWidget(textEdit);
+
+        testdllClass->setCentralWidget(centralWidget);
+        menuBar = new QMenuBar(testdllClass);
+        menuBar->setObjectName(QStringLiteral("menuBar"));
+        menuBar->setGeometry(QRect(0, 0, 600, 23));
+        testdllClass->setMenuBar(menuBar);
+        mainToolBar = new QToolBar(testdllClass);
+        mainToolBar->setObjectName(QStringLiteral("mainToolBar"));
+        testdllClass->addToolBar(Qt::TopToolBarArea, mainToolBar);
+        statusBar = new QStatusBar(testdllClass);
+        statusBar->setObjectName(QStringLiteral("statusBar"));
+        testdllClass->setStatusBar(statusBar);
+
+        retranslateUi(testdllClass);
+
+        QMetaObject::connectSlotsByName(testdllClass);
+    } // setupUi
+
+    void retranslateUi(QMainWindow *testdllClass)
+    {
+        testdllClass->setWindowTitle(QApplication::translate("testdllClass", "testdll", Q_NULLPTR));
+        label->setText(QApplication::translate("testdllClass", "\351\200\237\345\272\246", Q_NULLPTR));
+        lineEdit->setText(QApplication::translate("testdllClass", "2000", Q_NULLPTR));
+        startmotor->setText(QApplication::translate("testdllClass", "\346\255\243\350\275\254", Q_NULLPTR));
+        pushButton->setText(QApplication::translate("testdllClass", "\345\217\215\350\275\254", Q_NULLPTR));
+        pushButton_3->setText(QApplication::translate("testdllClass", "\346\237\245\350\257\242\347\212\266\346\200\201", Q_NULLPTR));
+        pushButton_2->setText(QApplication::translate("testdllClass", "\345\201\234\346\255\242", Q_NULLPTR));
+    } // retranslateUi
+
+};
+
+namespace Ui {
+    class testdllClass: public Ui_testdllClass {};
+} // namespace Ui
+
+QT_END_NAMESPACE
+
+#endif // UI_TESTDLL_H

testdll/main.cpp

@@ -0,0 +1,10 @@
+#include "testdll.h"
+#include <QtWidgets/QApplication>
+
+int main(int argc, char *argv[])
+{
+	QApplication a(argc, argv);
+	testdll w;
+	w.show();
+	return a.exec();
+}

testdll/testdll.cpp

@@ -0,0 +1,79 @@
+#include "testdll.h"
+#include "QThread"
+
+testdll::testdll(QWidget *parent)
+	: QMainWindow(parent)
+{
+	ui.setupUi(this);
+	motor = new VinceControl(NETTCP, 6000);
+	connect(ui.startmotor, &QPushButton::clicked, this, &testdll::onbeginstart);
+	connect(ui.pushButton, &QPushButton::clicked, this, &testdll::onfanzhuan);
+	connect(ui.pushButton_2, &QPushButton::clicked, this, &testdll::onstop);
+	connect(ui.pushButton_3, &QPushButton::clicked, this, &testdll::oninfomotor);
+	connect(motor, &VinceControl::SendLogToCallClass, this, &testdll::onlogcom);
+	timer = new QTimer(this);
+	connect(timer, SIGNAL(timeout()), this, SLOT(oninfomotor()));
+	timer->start(2000);
+
+
+}
+
+testdll::~testdll()
+{
+	motor->StopMotormove();
+	delete motor;
+
+}
+
+void testdll::onbeginstart()
+{
+	//motor->Handshacke();
+	motor->EnableMotro();
+
+		//motor->StopMotormove();
+		long aa = ui.lineEdit->text().toLong();
+		motor->StopMotormove();
+		motor->SettingSpeed(aa);
+		motor->MoveMotar(true);
+		//fangxiang = !fangxiang;
+		//QThread::sleep(5);
+	
+
+
+
+}
+
+void testdll::onfanzhuan()
+{
+
+//	motor->StopMotormove();
+	long aa = ui.lineEdit->text().toLong();
+	motor->StopMotormove();
+	motor->SettingSpeed(aa);
+	motor->MoveMotar(false);
+	motor->SendCommandtoMotor("cfg\n");
+	//fangxiang = !fangxiang;
+	//QThread::sleep(5);
+}
+
+void testdll::onstop()
+{
+	//motor->StopMotormove();
+	//motor->SendCommandtoMotor("cfg\n");
+	motor->SettingZeroLocation();
+}
+
+void testdll::onlogcom(QString str)
+{
+	ui.textEdit->append(str);
+	//motor->SendCommandtoMotor("cfg\n");
+}
+
+void testdll::oninfomotor()
+{
+	if (motor->IsMotorInit)
+	{
+		motor->GetState();
+	}
+	
+}

testdll/testdll.h

@@ -0,0 +1,28 @@
+#ifndef TESTDLL_H
+#define TESTDLL_H
+
+#include <QtWidgets/QMainWindow>
+#include "ui_testdll.h"
+#include "vincecontrol.h"
+#include "QTimer"
+class testdll : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	testdll(QWidget *parent = 0);
+	~testdll();
+
+private:
+	Ui::testdllClass ui;
+	VinceControl *motor;
+	QTimer *timer;
+	public slots :
+	void onbeginstart();
+	void onfanzhuan();
+	void onstop();
+	void onlogcom(QString str);
+	void oninfomotor();
+};
+
+#endif // TESTDLL_H

testdll/testdll.qrc

@@ -0,0 +1,4 @@
+<RCC>
+    <qresource prefix="testdll">
+    </qresource>
+</RCC>

testdll/testdll.ui

@@ -0,0 +1,111 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>testdllClass</class>
+ <widget class="QMainWindow" name="testdllClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>testdll</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <item>
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>速度</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="lineEdit">
+        <property name="text">
+         <string>2000</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QPushButton" name="startmotor">
+        <property name="text">
+         <string>正转</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton">
+        <property name="text">
+         <string>反转</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_3">
+        <property name="text">
+         <string>查询状态</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_2">
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <widget class="QTextEdit" name="textEdit"/>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>600</width>
+     <height>23</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="testdll.qrc"/>
+ </resources>
+ <connections/>
+</ui>

testdll/testdll.vcxproj

@@ -0,0 +1,232 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{FE2F26F1-B5DA-4B8A-BA06-9B4E489DEDF1}</ProjectGuid>
+    <Keyword>Qt4VSv1.0</Keyword>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup>
+    <_ProjectFileVersion>12.0.30501.0</_ProjectFileVersion>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PreprocessorDefinitions>UNICODE;WIN32;WIN64;QT_DLL;QT_CORE_LIB;QT_GUI_LIB;QT_WIDGETS_LIB;QT_NETWORK_LIB;QT_SERIALPORT_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>.\GeneratedFiles;.;$(QTDIR)\include;.\GeneratedFiles\$(ConfigurationName);$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(QTDIR)\include\QtWidgets;$(QTDIR)\include\QtNetwork;$(QTDIR)\include\QtSerialPort;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <Optimization>Disabled</Optimization>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
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+      <AdditionalLibraryDirectories>$(QTDIR)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>qtmaind.lib;Qt5Cored.lib;Qt5Guid.lib;Qt5Widgetsd.lib;Qt5Networkd.lib;Qt5SerialPortd.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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+      <Optimization>Disabled</Optimization>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
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+    <Link>
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+      <AdditionalLibraryDirectories>..\..\x64\Debug;$(QTDIR)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalDependencies>vincecontrol.lib;qtmaind.lib;Qt5Cored.lib;Qt5Guid.lib;Qt5Widgetsd.lib;Qt5Networkd.lib;Qt5SerialPortd.lib;%(AdditionalDependencies)</AdditionalDependencies>
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+      <SubSystem>Windows</SubSystem>
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+      <DebugInformationFormat />
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+    <ClCompile Include="GeneratedFiles\Debug\moc_testdll.cpp">
+      <ExcludedFromBuild Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">true</ExcludedFromBuild>
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+      </PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+      </PrecompiledHeader>
+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\Release\moc_testdll.cpp">
+      <ExcludedFromBuild Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</ExcludedFromBuild>
+      <ExcludedFromBuild Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">true</ExcludedFromBuild>
+    </ClCompile>
+    <ClCompile Include="main.cpp" />
+    <ClCompile Include="testdll.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <CustomBuild Include="testdll.h">
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(QTDIR)\bin\moc.exe;%(FullPath)</AdditionalInputs>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Moc%27ing testdll.h...</Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">.\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp</Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">"$(QTDIR)\bin\moc.exe"  "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp"  -DUNICODE -DWIN32 -DWIN64 -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DQT_WIDGETS_LIB -DQT_NETWORK_LIB -DQT_SERIALPORT_LIB  "-I.\GeneratedFiles" "-I." "-I$(QTDIR)\include" "-I.\GeneratedFiles\$(ConfigurationName)\." "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(QTDIR)\include\QtWidgets" "-I$(QTDIR)\include\QtNetwork" "-I$(QTDIR)\include\QtSerialPort"</Command>
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+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Moc%27ing testdll.h...</Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">.\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp</Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">"$(QTDIR)\bin\moc.exe"  "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp"  -DUNICODE -DWIN32 -DWIN64 -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DQT_WIDGETS_LIB -DQT_NETWORK_LIB -DQT_SERIALPORT_LIB  "-I.\.." "-I.\GeneratedFiles" "-I." "-I$(QTDIR)\include" "-I.\GeneratedFiles\$(ConfigurationName)\." "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(QTDIR)\include\QtWidgets" "-I$(QTDIR)\include\QtNetwork" "-I$(QTDIR)\include\QtSerialPort"</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">$(QTDIR)\bin\moc.exe;%(FullPath)</AdditionalInputs>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Moc%27ing testdll.h...</Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">.\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp</Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">"$(QTDIR)\bin\moc.exe"  "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp"  -DUNICODE -DWIN32 -DWIN64 -DQT_DLL -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DQT_GUI_LIB -DQT_WIDGETS_LIB -DQT_NETWORK_LIB -DQT_SERIALPORT_LIB  "-I.\GeneratedFiles" "-I." "-I$(QTDIR)\include" "-I.\GeneratedFiles\$(ConfigurationName)\." "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(QTDIR)\include\QtWidgets" "-I$(QTDIR)\include\QtNetwork" "-I$(QTDIR)\include\QtSerialPort"</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Release|x64'">$(QTDIR)\bin\moc.exe;%(FullPath)</AdditionalInputs>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Moc%27ing testdll.h...</Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|x64'">.\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp</Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|x64'">"$(QTDIR)\bin\moc.exe"  "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp"  -DUNICODE -DWIN32 -DWIN64 -DQT_DLL -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DQT_GUI_LIB -DQT_WIDGETS_LIB -DQT_NETWORK_LIB -DQT_SERIALPORT_LIB  "-I.\GeneratedFiles" "-I." "-I$(QTDIR)\include" "-I.\GeneratedFiles\$(ConfigurationName)\." "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(QTDIR)\include\QtWidgets" "-I$(QTDIR)\include\QtNetwork" "-I$(QTDIR)\include\QtSerialPort"</Command>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <CustomBuild Include="testdll.ui">
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(QTDIR)\bin\uic.exe;%(AdditionalInputs)</AdditionalInputs>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Uic%27ing %(Identity)...</Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">.\GeneratedFiles\ui_%(Filename).h;%(Outputs)</Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">"$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)"</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">$(QTDIR)\bin\uic.exe;%(AdditionalInputs)</AdditionalInputs>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Uic%27ing %(Identity)...</Message>
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+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|x64'">"$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)"</Command>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="GeneratedFiles\ui_testdll.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <CustomBuild Include="testdll.qrc">
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+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Rcc%27ing %(Identity)...</Message>
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+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">"$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp</Command>
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+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">"$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp</Command>
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+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|x64'">"$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp</Command>
+    </CustomBuild>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+  <ProjectExtensions>
+    <VisualStudio>
+      <UserProperties MocDir=".\GeneratedFiles\$(ConfigurationName)" UicDir=".\GeneratedFiles" RccDir=".\GeneratedFiles" lupdateOptions="" lupdateOnBuild="0" lreleaseOptions="" Qt5Version_x0020_x64="qt5.8" MocOptions="" />
+    </VisualStudio>
+  </ProjectExtensions>
+</Project>

testdll/testdll.vcxproj.filters

@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;cxx;c;def</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h</Extensions>
+    </Filter>
+    <Filter Include="Form Files">
+      <UniqueIdentifier>{99349809-55BA-4b9d-BF79-8FDBB0286EB3}</UniqueIdentifier>
+      <Extensions>ui</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{D9D6E242-F8AF-46E4-B9FD-80ECBC20BA3E}</UniqueIdentifier>
+      <Extensions>qrc;*</Extensions>
+      <ParseFiles>false</ParseFiles>
+    </Filter>
+    <Filter Include="Generated Files">
+      <UniqueIdentifier>{71ED8ED8-ACB9-4CE9-BBE1-E00B30144E11}</UniqueIdentifier>
+      <Extensions>moc;h;cpp</Extensions>
+      <SourceControlFiles>False</SourceControlFiles>
+    </Filter>
+    <Filter Include="Generated Files\Debug">
+      <UniqueIdentifier>{6e1893f8-0829-4202-b060-6dfe5c596c3a}</UniqueIdentifier>
+      <Extensions>cpp;moc</Extensions>
+      <SourceControlFiles>False</SourceControlFiles>
+    </Filter>
+    <Filter Include="Generated Files\Release">
+      <UniqueIdentifier>{09cc2671-132c-4254-beab-562321593421}</UniqueIdentifier>
+      <Extensions>cpp;moc</Extensions>
+      <SourceControlFiles>False</SourceControlFiles>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="main.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="testdll.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\Debug\moc_testdll.cpp">
+      <Filter>Generated Files\Debug</Filter>
+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\Release\moc_testdll.cpp">
+      <Filter>Generated Files\Release</Filter>
+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\qrc_testdll.cpp">
+      <Filter>Generated Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <CustomBuild Include="testdll.h">
+      <Filter>Header Files</Filter>
+    </CustomBuild>
+    <CustomBuild Include="testdll.ui">
+      <Filter>Form Files</Filter>
+    </CustomBuild>
+    <CustomBuild Include="testdll.qrc">
+      <Filter>Resource Files</Filter>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="GeneratedFiles\ui_testdll.h">
+      <Filter>Generated Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

testdll/testdll.vcxproj.user

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+  </PropertyGroup>
+</Project>

testdll/x64/Debug/testdll.log

@@ -0,0 +1,13 @@
+生成启动时间为 2020/9/3 14:49:21。
+     1>项目“D:\vspro\ProjectofIrisIMAGE\vincecontrol\vincecontrol\testdll\testdll.vcxproj”在节点 2 上(Build 个目标)。
+     1>Link:
+         C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64\link.exe /ERRORREPORT:PROMPT /OUT:"D:\vspro\ProjectofIrisIMAGE\vincecontrol\x64\Debug\\testdll.exe" /NOLOGO /LIBPATH:..\..\x64\Debug /LIBPATH:C:\Qt\Qt5.8.0\5.8\msvc2013_64\lib vincecontrol.lib qtmaind.lib Qt5Cored.lib Qt5Guid.lib Qt5Widgetsd.lib Qt5Networkd.lib Qt5SerialPortd.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /MANIFEST /MANIFESTUAC:"level='asInvoker' uiAccess='false'" /manifest:embed /DEBUG /PDB:"D:\vspro\ProjectofIrisIMAGE\vincecontrol\x64\Debug\testdll.pdb" /SUBSYSTEM:WINDOWS /TLBID:1 /DYNAMICBASE /NXCOMPAT /IMPLIB:"D:\vspro\ProjectofIrisIMAGE\vincecontrol\x64\Debug\testdll.lib" /MACHINE:X64 x64\Debug\moc_testdll.obj
+         x64\Debug\qrc_testdll.obj
+         x64\Debug\main.obj
+         x64\Debug\testdll.obj
+         testdll.vcxproj -> D:\vspro\ProjectofIrisIMAGE\vincecontrol\x64\Debug\testdll.exe
+     1>已完成生成项目“D:\vspro\ProjectofIrisIMAGE\vincecontrol\vincecontrol\testdll\testdll.vcxproj”(Build 个目标)的操作。
+
+生成成功。
+
+已用时间 00:00:00.73

testdll/x64/Debug/testdll.tlog/testdll.lastbuildstate

@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=v4.0:PlatformToolSet=v120:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit
+Debug|x64|D:\vspro\ProjectofIrisIMAGE\vincecontrol\|

vincecontrol.cpp

@@ -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()
+long VinceControl::GetLocationNow(QString motornetid)
-{
-	return 10000;
-}
-
-void VinceControl::MoveToLocation(long Location)
 {
+	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);

vincecontrol.h

@@ -68,10 +68,13 @@ struct ByteBack
 /********************************************************************
 * 描述：马达控制程序
 * 使用步骤
-* 1）初始话 需要告诉通讯协议（Vince规定的）：
+* 1 初始化 需要告诉通讯协议（Vince规定的） 如：motor = new VinceControl(NETTCP, 6000);
-* 2）如果是485 请设置id 默认为0
+* 2 通过 motor->IsMotorInit 来判断是否右马达接入
-* 3) serialconnect 建立链接
+* 建议：
-* 4）使用
+* 1) 可以用SettingZeroLocation（）结合传感器的是指来设置零为
+* 2）关于传感器的设置均在initmotor（）函数里
+* 注意：
+* 类中所有默认参数再不设置的情况下均指网络通讯的第一个设备id
 *                                                     2020-8-5：立新
 *******************************************************************/
 class VINCECONTROL_EXPORT VinceControl:public QObject
@@ -88,6 +91,7 @@ public:
 	// Parameter: ProTools 通讯协议 RS485 或者 RS232
 	//************************************
 	VinceControl(ProTools proto);
+
 	//************************************
 	// Method:    VinceControl //走网络协议 需要两个参数 第一个为NETTCP 第二个为端口 6000或者6001
 	// FullName:  VinceControl::VinceControl
@@ -100,16 +104,15 @@ public:
 	VinceControl(ProTools proto,int port);
 	~VinceControl();
 	//************************************
-	// Method:    serialconnect
+	// Method:    MoveToLocation 移动到某位置（据0点）
-	// FullName:  VinceControl::serialconnect
+	// FullName:  VinceControl::MoveToLocation
 	// Access:    public 
-	// Returns:   bool
+	// Returns:   void
 	// Qualifier:
-	// Parameter: QString comname 串口名称
+	// Parameter: long Location 距离零点的位置
-	// Parameter: QString bandrate 串口波特率
 	//************************************
+	void MoveToLocation(long Location, QString motornetid = "non");
 
-	bool serialconnect(QString comname,QString bandrate);
 	//************************************
 	// Method:    Handshacke
 	// FullName:  VinceControl::Handshacke
@@ -117,18 +120,18 @@ public:
 	// Returns:   void
 	// Qualifier:
 	//************************************
-
-
 	void Handshacke(QString motorid = "non");
+
 	//************************************
-	// Method:    SetRS485ID
+	// Method:    SettingZeroLocation 马达归零
-	// FullName:  VinceControl::SetRS485ID
+	// FullName:  VinceControl::SettingZeroLocation
 	// Access:    public 
 	// Returns:   void
 	// Qualifier:
-	// Parameter: QString id  RS485 id
+	// Parameter: QString motorid
 	//************************************
-	void SetRS485ID(QString id);
+	void SettingZeroLocation(QString motorid = "non");
+
 	//************************************
 	// Method:   电机使能
 	// FullName:  VinceControl::EnableMotro
@@ -165,6 +168,7 @@ public:
 	// Parameter: int motorid
 	//************************************
 	void SendCommandtoMotor(QString str,QString modor);
+
 	//************************************
 	// Method:    MoveSetDistance 电机左移/右移 一定数量（不是距离）
 	// FullName:  VinceControl::MoveSetDistance
@@ -173,8 +177,8 @@ public:
 	// Qualifier:
 	// Parameter: long distance
 	//************************************
-
 	void MoveSetDistance(long distance, QString motornetid = "non");
+
 	//************************************
 	// Method:    MoveModar 电机左移/右移 direction是方向
 	// FullName:  VinceControl::MoveModar
@@ -184,6 +188,7 @@ public:
 	// Parameter: bool direction 方向 
 	//************************************
 	void MoveMotar(bool direction, QString motornetid = "non");
+
 	//************************************
 	// Method:    SettingSpeed 设置速度
 	// FullName:  VinceControl::SettingSpeed
@@ -202,6 +207,7 @@ public:
 	// Qualifier: 
 	//************************************
 	void MovetoZero(QString motornetid = "non");
+
 	//************************************
 	// Method:    GetLocationNow 获取当前至0点位置
 	// FullName:  VinceControl::GetLocationNow
@@ -209,16 +215,8 @@ public:
 	// Returns:   long 位置
 	// Qualifier:
 	//************************************
-	long GetLocationNow();
+	long GetLocationNow(QString motornetid = "non");
-	//************************************
+
-	// Method:    MoveToLocation 移动到某位置（据0点）
-	// FullName:  VinceControl::MoveToLocation
-	// Access:    public 
-	// Returns:   void
-	// Qualifier:
-	// Parameter: long Location 距离零点的位置
-	//************************************
-	void MoveToLocation(long Location);
 	//************************************
 	// Method:    SettingUpandDownSpeed 设置加减速度
 	// FullName:  VinceControl::SettingUpandDownSpeed
@@ -228,15 +226,63 @@ public:
 	// Parameter: int addspeed 加速度
 	// Parameter: int downspeed 减速度
 	//************************************
-	void SettingUpandDownSpeed(int addspeed, int downspeed);
+	void SettingUpandDownSpeed(int addspeed, int downspeed, QString motornetid = "non");
 
+	//************************************
+	// Method:    StopMotormove 停止马达
+	// FullName:  VinceControl::StopMotormove
+	// Access:    public 
+	// Returns:   void
+	// Qualifier:
+	// Parameter: QString motornetid
+	//************************************
 	void StopMotormove(QString motornetid = "non");
+
+
+	//************************************
+	// Method:    GetState
+	// FullName:  VinceControl::GetState
+	// Access:    public 
+	// Returns:   ByteBack
+	// Qualifier:
+	// Parameter: QString motorid
+	//************************************
 	ByteBack GetState(QString motorid = "non");
+
+	//************************************
+	// Method:    SetRS485ID
+	// FullName:  VinceControl::SetRS485ID
+	// Access:    public 
+	// Returns:   void
+	// Qualifier:
+	// Parameter: QString id  RS485 id
+	//************************************
+	void SetRS485ID(QString id);
+
+	//************************************
+	// Method:    serialconnect
+	// FullName:  VinceControl::serialconnect
+	// Access:    public 
+	// Returns:   bool
+	// Qualifier:
+	// Parameter: QString comname 串口名称
+	// Parameter: QString bandrate 串口波特率
+	//************************************
+	bool serialconnect(QString comname, QString bandrate);
+	//************************************
+	// Method:    initMotor 设置左右极限 s1是为左极限 且到s1后会将s1位置设置为0 s2是右极限 归零传感器是指为s1
+	// FullName:  VinceControl::initMotor
+	// Access:    public 
+	// Returns:   void
+	// Qualifier:
+	// Parameter: QString motornetid
+	//************************************
+	void initMotor(QString motornetid = "non");
 	QStringList Motorlist;
 	bool IsMotorInit;
 signals:
 	void SendLogToCallClass(QString str);
-	public slots :
+public slots :
 	void onNewTcpClinetConnet();
 
 	void onClinetDisConnet();
@@ -260,6 +306,7 @@ private:
 	ByteBack TranslateBytedata(QByteArray buf, QString motornetid = "non");
 	void initme();
 
+	
 };
 
 #endif // VINCECONTROL_H

vincecontrol.vcxproj.user

@@ -3,10 +3,10 @@
   <PropertyGroup />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
 </Project>