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a8000_protocol
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recode

change_pipette_api
zhaohe 1 year ago
parent
46658ddf81
commit
69ff72feb1
5 changed files with 112 additions and 218 deletions
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  1. 109
      api/apibasic/cmdid.hpp
  2. 3
      api/apibasic/module_type_index.hpp
  3. 70
      api/apibasic/reg_index.hpp
  4. 98
      api/zi_module.hpp
  5. 50
      api/zi_motor.hpp

109
api/apibasic/cmdid.hpp
View File

@ -19,80 +19,26 @@ typedef enum {
virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t module_start() { return err::koperation_not_support; }
#endif
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
#if 0
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
#endif
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_rotate_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kmotor_motor_move_to_zero_forward_and_calculated_shift = CMDID(2, 13), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_torque = CMDID(2, 15), // para:{4,4,4}, ack:{}
kmotor_calculated_pos_by_move_to_zero = CMDID(2, 16), // para:{}, ack:{}
kmotor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
kmotor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
kmotor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
kmotor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
kmotor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
kmotor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
// kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
// kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
// kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
// kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
// kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
// kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
// kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
#if 0
virtual ~ZIXYMotor() {}
@ -151,6 +97,21 @@ typedef enum {
ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
/***********************************************************************************************************************
* STEP_MOTOR *
***********************************************************************************************************************/
kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
kstep_motor_active_cfg = CMDID(2, 23), // para:{4,4}, ack:{}
kstep_motor_stop = CMDID(2, 24), // para:{4}, ack:{}
} cmdid_t;
} // namespace zcr

3
api/apibasic/module_type_index.hpp
View File

@ -13,5 +13,8 @@ typedef enum {
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
klaster_scaner_module = 9, // a8000光学模组
ktmc_step_motor = 10,
} module_type_t;
}

70
api/apibasic/reg_index.hpp
View File

@ -9,15 +9,10 @@ typedef enum {
/*******************************************************************************
* 模块通用配置和状态 *
*******************************************************************************/
kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
// kreg_module_initflag = REG_INDEX(0, 0, 4), // inited_flag
// kreg_module_enableflag = REG_INDEX(0, 0, 5), // 0idle,1busy,2error
// kreg_module_errorbitflag0 = REG_INDEX(0, 0, 6), // 模块异常标志，bit，每个模块自定义
// kreg_module_input_state = REG_INDEX(0, 0, 8), //
// kreg_module_output_state = REG_INDEX(0, 0, 9), //
kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
@ -34,33 +29,6 @@ typedef enum {
*******************************************************************************/
/*******************************************************************************
* MOTOR_DEFAULT *
*******************************************************************************/
kreg_step_motor_pos = REG_INDEX(10, 0, 1), // 机器人x坐标
kreg_step_motor_io_state = REG_INDEX(10, 0, 2), // IO状态
kreg_step_motor_shift = REG_INDEX(10, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(10, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(10, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(10, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(10, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(10, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(10, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(10, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(10, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(10, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(10, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(10, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(10, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(10, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(10, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(10, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(10, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(10, 50, 26), // 找零边缘减速度
kreg_step_motor_default_torque = REG_INDEX(10, 50, 27), // 默认扭矩
kreg_step_motor_max_d = REG_INDEX(10, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(10, 50, 29), // 最小限制距离
/*******************************************************************************
* MOTOR_X *
*******************************************************************************/
@ -154,6 +122,36 @@ typedef enum {
kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13),
kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
/*******************************************************************************
* MOTOR_DEFAULT *
*******************************************************************************/
kreg_step_motor_pos = REG_INDEX(10, 0, 1), // 机器人x坐标
kreg_step_motor_io_state = REG_INDEX(10, 0, 2), // IO状态
kreg_step_motor_shift = REG_INDEX(10, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(10, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(10, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(10, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(10, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(10, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(10, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(10, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(10, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(10, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(10, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(10, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(10, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(10, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(10, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(10, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(10, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(10, 50, 26), // 找零边缘减速度
kreg_step_motor_default_torque = REG_INDEX(10, 50, 27), // 默认扭矩
kreg_step_motor_max_d = REG_INDEX(10, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(10, 50, 29), // 最小限制距离
/***********************************************************************************************************************
* XYROBOT *
***********************************************************************************************************************/

98
api/zi_module.hpp
View File

@ -5,7 +5,6 @@
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
@ -30,11 +29,11 @@ using namespace std;
int32_t module_version = version; \
int32_t module_type = type;
#define MODULE_COMMON_PROCESS_REG_CB() \
PROCESS_REG(kreg_module_version, /* */ REG_GET(module_version), ACTION_NONE); \
PROCESS_REG(kreg_module_type, /* */ REG_GET(module_type), ACTION_NONE); \
PROCESS_REG(kreg_module_status, /* */ module_get_status(&val), ACTION_NONE); \
PROCESS_REG(kreg_module_errorcode, /* */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE); \
#define MODULE_COMMON_PROCESS_REG_CB() \
PROCESS_REG(kreg_module_version, /* */ REG_GET(module_version), ACTION_NONE); \
PROCESS_REG(kreg_module_type, /* */ REG_GET(module_type), ACTION_NONE); \
PROCESS_REG(kreg_module_status, /* */ module_get_status(&val), ACTION_NONE); \
PROCESS_REG(kreg_module_errorcode, /* */ REG_GET(creg.module_errorcode), ACTION_NONE);
typedef struct {
int32_t module_errorcode;
@ -42,27 +41,11 @@ typedef struct {
int32_t module_enable;
} module_common_reg_t;
class ModuleCMDExecStatus {
public:
int32_t exec_status = 0;
int32_t exec_val[6] = {0};
void set_exec_status(int32_t status, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0, int32_t val5 = 0) {
exec_status = status;
exec_val[0] = val0;
exec_val[1] = val1;
exec_val[2] = val2;
exec_val[3] = val3;
exec_val[4] = val4;
exec_val[5] = val5;
}
};
class ZIModule {
int32_t m_inited_flag = 0;
protected:
module_common_reg_t m_com_reg;
module_common_reg_t creg;
public:
virtual ~ZIModule() {}
@ -76,54 +59,8 @@ class ZIModule {
virtual int32_t module_ping() { return 0; };
virtual int32_t module_stop() { return err::koperation_not_support; }
virtual int32_t module_break() { return module_stop(); }
virtual int32_t module_start() { return err::koperation_not_support; }
virtual int32_t module_get_last_exec_status(int32_t *status) { return err::koperation_not_support; }
virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_get_error(int32_t *iserror) {
*iserror = m_com_reg.module_errorcode;
return 0;
}
virtual int32_t module_clear_error() {
m_com_reg.module_errorcode = 0;
m_com_reg.module_errorbitflag0 = 0;
return 0;
}
virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::koperation_not_support; }
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
virtual int32_t module_readio(int32_t *io) { return err::koperation_not_support; }
virtual int32_t module_writeio(int32_t idindex, int32_t io) { return err::koperation_not_support; }
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
virtual int32_t module_set_inited_flag(int32_t flag) {
m_inited_flag = flag;
return 0;
}
virtual int32_t module_get_inited_flag(int32_t *flag) {
*flag = m_inited_flag;
return 0;
}
virtual int32_t module_get_inited_flag() { return m_inited_flag; }
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
virtual int32_t module_factory_reset() { return err::koperation_not_support; }
virtual int32_t module_flush_cfg() { return err::ksucc; }
virtual int32_t module_active_cfg() { return err::ksucc; }
virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
if (val < min || val > max) {
return err::kparam_out_of_range;
@ -135,7 +72,6 @@ class ZIModule {
val = regval;
return 0;
}
virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX) {
if (val < min || val > max) {
return err::kparam_out_of_range;
@ -148,6 +84,28 @@ class ZIModule {
return 0;
}
virtual int32_t module_get_error(int32_t *iserror) {
*iserror = creg.module_errorcode;
return 0;
}
virtual int32_t module_clear_error() {
creg.module_errorcode = 0;
creg.module_errorbitflag0 = 0;
return 0;
}
public:
/***********************************************************************************************************************
* Óû§ÊµÏÖ *
***********************************************************************************************************************/
virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_stop() { return err::koperation_not_support; }
virtual int32_t module_break() { return module_stop(); }
// virtual int32_t module_start() { return err::koperation_not_support; }
virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::koperation_not_support; }
virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
public:
};
} // namespace iflytop

50
api/zi_motor.hpp
View File

@ -5,46 +5,20 @@
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
class ZIMotor {
class ZIStepMotor {
public:
virtual ~ZIMotor() {}
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
// virtual int32_t motor_set_shaft();
// s32 pos, s32 speed, s32 torque,
virtual ~ZIStepMotor() {}
virtual int32_t step_motor_enable(int32_t enable) = 0;
virtual int32_t step_motor_stop(int32_t breakstop) = 0;
virtual int32_t step_motor_read_pos(int32_t* pos) = 0;
virtual int32_t step_motor_easy_rotate(int32_t direction) = 0;
virtual int32_t step_motor_easy_move_by(int32_t distance) = 0;
virtual int32_t step_motor_easy_move_to(int32_t position) = 0;
virtual int32_t step_motor_easy_move_to_zero() = 0;
virtual int32_t step_motor_easy_set_current_pos(int32_t pos) = 0;
virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0;
virtual int32_t step_motor_active_cfg() = 0;
};
} // namespace iflytop
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