h-4nd-h
/
Servo
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Add code to servoControler class

test
nasi 3 years ago
parent
6b11392945
commit
1bc6a16708
2 changed files with 2 additions and 182 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 7
      Servo/src/ServoController.cpp
  2. 173
      Servo/src/ServoController.cpp.autosave

7
Servo/src/ServoController.cpp
View File

@ -74,16 +74,9 @@ void ServoController::changeMode(double startAngle, double stopAngle, double spe
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::init() void ServoController::init()
{ {
_modbusWrapper.init(); _modbusWrapper.init();
_modbusWrapper.connectToDevice(initiateConfig()); _modbusWrapper.connectToDevice(initiateConfig());
// timer = new QTimer();
// timer->setInterval(2000);
// timer->start();
// connect(timer, &QTimer::timeout, &this, &ServoController::handleGetRequestFromServo);
// timer->stop();
} }
/*************************************************************************************************/ /*************************************************************************************************/

173
Servo/src/ServoController.cpp.autosave
View File

@ -1,173 +0,0 @@
#include "ServoController.h"
ServoController::ServoController()
{
}
/*************************************************************************************************/
ModbusConfig ServoController::initiateConfig()
{
ModbusConfig _config;
_config.baud =QSerialPort::Baud19200;
_config.parity = QSerialPort::EvenParity;
_config.dataBits = QSerialPort::Data8;
_config.stopBits = QSerialPort::OneStop;
_config.responseTime = 2000;
return _config;
}
/*************************************************************************************************/
void ServoController::apply()
{
_modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL);
}
/*************************************************************************************************/
void ServoController::enableDrive()
{
_modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3);
apply();
}
void ServoController::setStartStop(bool start)
{
if(start)
_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 3);
else
_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 0);
apply();
}
/*************************************************************************************************/
void ServoController::setStartAngle(double angle)
{
_modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
_modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
}
/*************************************************************************************************/
void ServoController::setStopAngle(double angle)
{
_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
}
/*************************************************************************************************/
void ServoController::setSpeed(double speed)
{
_modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed*SRV_SPEED_FACTOR));
}
/*************************************************************************************************/
void ServoController::changeMode(double startAngle, double stopAngle, double speed)
{
setStartAngle(startAngle);
setStopAngle(stopAngle);
setSpeed(speed);
setStartStop(true);
enableDrive();
apply();
}
/*************************************************************************************************/
void ServoController::init()
{
_modbusWrapper.init();
_modbusWrapper.connectToDevice(initiateConfig());
}
/*************************************************************************************************/
void ServoController::startMoving()
{
setStartStop(true);
}
/*************************************************************************************************/
void ServoController::stopMoving()
{
setStartStop(false);
}
/*************************************************************************************************/
void ServoController::resetAzimuth()
{
_modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL);
}
/*************************************************************************************************/
void ServoController::fix(double angle)
{
changeMode(angle, angle, 5/6.0);
}
/*************************************************************************************************/
void ServoController::sector(double startAngle, double stopAngle, double speed)
{
changeMode(startAngle, stopAngle, speed);
}
/*************************************************************************************************/
double ServoController::getSpeed()
{
double speed;
QVector<quint16> speedVector;
speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG,1);
speed = speedVector[0] / SRV_SPEED_FACTOR;
return speed;
}
/*************************************************************************************************/
double ServoController::getStopAngle()
{
double speed;
QVector<quint16> speedVector1, speedVector2;
speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG,1);
speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG,1);
speed = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
return speed;
}
/*************************************************************************************************/
double ServoController::getStartAngle()
{
double speed;
QVector<quint16> speedVector1, speedVector2;
speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG,1);
speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG,1);
speed = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
return speed;
}
/*************************************************************************************************/
double ServoController::getAngleOffset()
{
double angleOffset;
QVector<quint16> angleOffsetVector;
angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE,1);
angleOffset = angleOffsetVector[0] / SRV_ANGLE_FACTOR;
return angleOffset;
}
/*************************************************************************************************/
void ServoController::setAngleOffset(double offset)
{
_modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset*SRV_ANGLE_FACTOR));
}
/*************************************************************************************************/
double ServoController::getAzimuth()
{
double azimuth;
QVector<quint16> azimuthVector;
azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG,1);
azimuth = azimuthVector[0] / SRV_ANGLE_FACTOR;
return azimuth;
}
Write Preview
Loading…
Cancel
Save