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Copy pathmotor_controller.h
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59 lines (54 loc) · 4.15 KB
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#ifndef MOTOR_CONTROLLER_H
#define MOTOR_CONTROLLER_H
#include <stdint.h>
#include "mc_error.h"
#include "linux_serial_port.h"
// status functions
mc_errnum read_encoder_carry(int serial_port, uint8_t slave_address, uint32_t *carry, uint16_t *value);
mc_errnum read_encoder_addition(int serial_port, uint8_t slave_address, int64_t *value);
mc_errnum read_speed(int serial_port, uint8_t slave_address, int16_t *speed);
mc_errnum read_abs_pulses(int serial_port, uint8_t slave_address, uint32_t *abs_pulses);
mc_errnum read_IOPort_status(int serial_port, uint8_t slave_address, uint8_t *status);
mc_errnum read_error_angle(int serial_port, uint8_t slave_address, float *error_angle);
mc_errnum read_en_pin_status(int serial_port, uint8_t slave_address, uint8_t *status);
mc_errnum read_zero_status(int serial_port, uint8_t slave_address, uint8_t *status);
mc_errnum read_shaft_protection_status(int serial_port, uint8_t slave_address, uint8_t *status);
mc_errnum read_motor_status(int serial_port, uint8_t slave_address, uint8_t *status);
// setup functions
mc_errnum release_shaft_protection(int serial_port, uint8_t slave_address);
mc_errnum restore_default_settings(int serial_port, uint8_t slave_address);
mc_errnum calibrate_motor(int serial_port, uint8_t slave_address);
mc_errnum set_work_mode(int serial_port, uint8_t slave_address, uint8_t mode);
mc_errnum set_work_current(int serial_port, uint8_t slave_address, uint16_t current);
mc_errnum set_holding_current_percentage(int serial_port, uint8_t slave_address, uint8_t holdMa);
mc_errnum set_subdivision(int serial_port, uint8_t slave_address, uint16_t subdivision);
mc_errnum set_en(int serial_port, uint8_t slave_address, uint8_t status);
mc_errnum set_dir(int serial_port, uint8_t slave_address, uint8_t dir);
mc_errnum set_auto_screen_off(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_shaft_protection(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_subdivision_interpolation(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_baud_rate(int serial_port, uint8_t slave_address, uint8_t baud);
mc_errnum set_slave_address(int serial_port, uint8_t slave_address, uint8_t addr);
mc_errnum set_modbus_rtu(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_axis_zero(int serial_port, uint8_t slave_address);
mc_errnum set_serial_enable(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_home(int serial_port, uint8_t slave_address, uint8_t trig_level, uint8_t home_dir, uint16_t home_speed, uint8_t endlimit);
mc_errnum set_limit_port_remap(int serial_port, uint8_t slave_address, uint8_t enable);
mc_errnum set_0_mode(int serial_port, uint8_t slave_address, uint8_t mode, uint8_t enable, uint8_t speed, uint8_t dir);
// move functions
mc_errnum emergency_stop(int serial_port, uint8_t slave_address);
mc_errnum go_home(int serial_port, uint8_t slave_address);
mc_errnum move_speed_mode(int serial_port, uint8_t slave_address, uint8_t direction, uint8_t acceleration, uint16_t speed);
mc_errnum stop_speed_mode(int serial_port, uint8_t slave_address, uint8_t acceleration);
mc_errnum set_speed_mode_parameter(int serial_port, uint8_t slave_address, uint8_t flag);
mc_errnum move_position_mode1(int serial_port, uint8_t slave_address, uint8_t direction, uint8_t acceleration, uint16_t speed, uint32_t pulses);
mc_errnum stop_position_mode1(int serial_port, uint8_t slave_address, uint8_t acceleration);
mc_errnum move_position_mode2(int serial_port, uint8_t slave_address, uint8_t acceleration, uint16_t speed, uint32_t abs_pulses);
mc_errnum stop_position_mode2(int serial_port, uint8_t slave_address, uint8_t acceleration);
mc_errnum move_position_mode3(int serial_port, uint8_t slave_address, uint8_t acceleration, uint16_t speed, int32_t rel_axis);
mc_errnum stop_position_mode3(int serial_port, uint8_t slave_address, uint8_t acceleration);
mc_errnum move_position_mode4(int serial_port, uint8_t slave_address, uint8_t acceleration, uint16_t speed, int32_t abs_axis);
mc_errnum stop_position_mode4(int serial_port, uint8_t slave_address, uint8_t acceleration);
// utility functions
mc_errnum wait_for_stop(int serial_port, uint8_t slave_address);
#endif // MOTOR_CONTROLLER_H