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49 lines
2.6 KiB
49 lines
2.6 KiB
#pragma once
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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typedef enum {
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RMDRs485CMDOrder30 = 0x30, //读取PID参数命令
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RMDRs485CMDOrder31 = 0x31, //写入PID参数到RAM命令
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RMDRs485CMDOrder32 = 0x32, //写入PID参数到ROM命令
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RMDRs485CMDOrder33 = 0x33, //读取加速度命令
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RMDRs485CMDOrder34 = 0x34, //写入加速度到RAM命令
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RMDRs485CMDOrder90 = 0x90, //读取编码器命令
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RMDRs485CMDOrder91 = 0x91, //写入编码器值到ROM作为电机零点命令
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RMDRs485CMDOrder19 = 0x19, //写入当前位置到ROM作为电机零点命令
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RMDRs485CMDOrder92 = 0x92, //读取多圈角度命令
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RMDRs485CMDOrder94 = 0x94, //读取单圈角度命令
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RMDRs485CMDOrder95 = 0x95, //清除电机角度命令(设置电机初始位置)
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RMDRs485CMDOrder9A = 0x9A, //读取电机状态1和错误标志命令
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RMDRs485CMDOrder9B = 0x9B, //清除电机错误标志命令
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RMDRs485CMDOrder9C = 0x9C, //读取电机状态2命令
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RMDRs485CMDOrder9D = 0x9D, //读取电机状态3命令
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RMDRs485CMDOrder80 = 0x80, //电机关闭命令
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RMDRs485CMDOrder81 = 0x81, //电机停止命令
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RMDRs485CMDOrder88 = 0x88, //电机运行命令
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RMDRs485CMDOrderA1 = 0xA1, //转矩闭环控制命令
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RMDRs485CMDOrderA2 = 0xA2, //速度闭环控制命令
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RMDRs485CMDOrderA3 = 0xA3, //多圈位置闭环控制命令1
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RMDRs485CMDOrderA4 = 0xA4, //多圈位置闭环控制命令2
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RMDRs485CMDOrderA5 = 0xA5, //单圈位置闭环控制命令1
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RMDRs485CMDOrderA6 = 0xA6, //单圈位置闭环控制命令2
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RMDRs485CMDOrderA7 = 0xA7, //增量位置闭环控制命令1
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RMDRs485CMDOrderA8 = 0xA8, //增量位置闭环控制命令2
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RMDRs485CMDOrder12 = 0x12, //读取驱动和电机型号命令
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RMDRs485CMDOrderC2 = 0xC2, //读取多圈角度命令2
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RMDRs485CMDOrderD8 = 0xD8, //增量位置闭环控制命令2
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} RMDMotorDriverRs485CMD;
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void motor_drive_uart_init();
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void motor_drive_turn(int direction, int speed_level, double position);
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double motor_drive_read_encoder();
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void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
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uint8_t motor_drive_set_packages_ctr(double position, int direction);
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void motor_drive_hex_to_str(const char *hex, int hex_len, char *str);
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size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
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void motor_drive_buffer_cmd_parse(uint8_t *buffer);
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u_int8_t motor_drive_set_motor_current_size();
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double motor_drive_read_single_turn_angle();
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void motor_drive_set_motor_to_angle(int rotation_direction, double position, int speed_level);
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