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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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131
testdll/GeneratedFiles/Debug/moc_testdll.cpp Normal file
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/****************************************************************************
** 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

46
testdll/GeneratedFiles/qrc_testdll.cpp Normal file
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/****************************************************************************
** 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;
}

149
testdll/GeneratedFiles/ui_testdll.h Normal file
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/********************************************************************************
** 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

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testdll/main.cpp Normal file
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#include "testdll.h"
#include <QtWidgets/QApplication>
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
testdll w;
w.show();
return a.exec();
}

79
testdll/testdll.cpp Normal file
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#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();
}
}

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testdll/testdll.h Normal file
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#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

4
testdll/testdll.qrc Normal file
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<RCC>
<qresource prefix="testdll">
</qresource>
</RCC>

111
testdll/testdll.ui Normal file
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<?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>

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testdll/testdll.vcxproj Normal file
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<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="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<ConfigurationType>Application</ConfigurationType>
<PlatformToolset>v120</PlatformToolset>
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<PropertyGroup Condition="'$(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)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<PlatformToolset>v120</PlatformToolset>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
<ImportGroup Label="ExtensionSettings">
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<ClCompile>
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<Link>
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<Optimization>Disabled</Optimization>
<DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
<RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
<TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
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<Link>
<SubSystem>Windows</SubSystem>
<OutputFile>$(OutDir)\$(ProjectName).exe</OutputFile>
<AdditionalLibraryDirectories>..\..\x64\Debug;$(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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<DebugInformationFormat />
<RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
<TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
<OutputFile>$(OutDir)\$(ProjectName).exe</OutputFile>
<AdditionalLibraryDirectories>$(QTDIR)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<GenerateDebugInformation>false</GenerateDebugInformation>
<AdditionalDependencies>qtmain.lib;Qt5Core.lib;Qt5Gui.lib;Qt5Widgets.lib;Qt5Network.lib;Qt5SerialPort.lib;%(AdditionalDependencies)</AdditionalDependencies>
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@ -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

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

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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);

103
vincecontrol.h
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@ -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）：
* 2）如果是485 请设置id 默认为0
* 3) serialconnect 建立链接
* 4）使用
* 1 初始化 需要告诉通讯协议（Vince规定的） 如：motor = new VinceControl(NETTCP, 6000);
* 2 通过 motor->IsMotorInit 来判断是否右马达接入
* 建议：
* 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
// FullName: VinceControl::serialconnect
// Method: MoveToLocation 移动到某位置（据0点）
// FullName: VinceControl::MoveToLocation
// Access: public
// Returns: bool
// Returns: void
// Qualifier:
// Parameter: QString comname 串口名称
// Parameter: QString bandrate 串口波特率
// Parameter: long Location 距离零点的位置
//************************************
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
// FullName: VinceControl::SetRS485ID
// Method: SettingZeroLocation 马达归零
// 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();
//************************************
// 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);
long GetLocationNow(QString motornetid = "non");
//************************************
// Method: SettingUpandDownSpeed 设置加减速度
// FullName: VinceControl::SettingUpandDownSpeed
@ -228,10 +226,58 @@ 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:
@ -260,6 +306,7 @@ private:
ByteBack TranslateBytedata(QByteArray buf, QString motornetid = "non");
void initme();
};
#endif // VINCECONTROL_H

4
vincecontrol.vcxproj.user
View File

@ -3,10 +3,10 @@
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