7 changed files with 446 additions and 33 deletions
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#include "ServoController.h" |
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ServoController::ServoController() |
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{ |
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} |
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/*************************************************************************************************/ |
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ModbusConfig ServoController::initiateConfig() |
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{ |
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ModbusConfig _config; |
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_config.baud =QSerialPort::Baud19200; |
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_config.parity = QSerialPort::EvenParity; |
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_config.dataBits = QSerialPort::Data8; |
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_config.stopBits = QSerialPort::OneStop; |
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_config.responseTime = 2000; |
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return _config; |
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} |
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/*************************************************************************************************/ |
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void ServoController::apply() |
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{ |
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_modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL); |
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} |
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/*************************************************************************************************/ |
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void ServoController::enableDrive() |
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{ |
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_modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3); |
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apply(); |
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} |
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void ServoController::setStartStop(bool start) |
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{ |
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if(start) |
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_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 3); |
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else |
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_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 0); |
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apply(); |
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} |
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/*************************************************************************************************/ |
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void ServoController::setStartAngle(double angle) |
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{ |
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_modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(angle)); |
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_modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100)); |
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} |
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/*************************************************************************************************/ |
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void ServoController::setStopAngle(double angle) |
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{ |
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_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(angle)); |
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_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100)); |
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} |
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/*************************************************************************************************/ |
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void ServoController::setSpeed(double speed) |
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{ |
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_modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed*SRV_SPEED_FACTOR)); |
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} |
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/*************************************************************************************************/ |
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void ServoController::changeMode(double startAngle, double stopAngle, double speed) |
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{ |
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setStartAngle(startAngle); |
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setStopAngle(stopAngle); |
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setSpeed(speed); |
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setStartStop(true); |
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enableDrive(); |
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apply(); |
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} |
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/*************************************************************************************************/ |
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void ServoController::init() |
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{ |
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_modbusWrapper.init(); |
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_modbusWrapper.connectToDevice(initiateConfig()); |
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} |
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/*************************************************************************************************/ |
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void ServoController::startMoving() |
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{ |
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setStartStop(true); |
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} |
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/*************************************************************************************************/ |
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void ServoController::stopMoving() |
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{ |
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setStartStop(false); |
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} |
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/*************************************************************************************************/ |
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void ServoController::resetAzimuth() |
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{ |
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_modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL); |
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} |
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/*************************************************************************************************/ |
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void ServoController::fix(double angle) |
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{ |
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changeMode(angle, angle, 5/6.0); |
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} |
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/*************************************************************************************************/ |
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void ServoController::sector(double startAngle, double stopAngle, double speed) |
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{ |
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changeMode(startAngle, stopAngle, speed); |
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} |
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/*************************************************************************************************/ |
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double ServoController::getSpeed() |
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{ |
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double speed; |
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QVector<quint16> speedVector; |
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speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG,1); |
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speed = speedVector[0] / SRV_SPEED_FACTOR; |
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return speed; |
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} |
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/*************************************************************************************************/ |
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double ServoController::getStopAngle() |
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{ |
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double speed; |
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QVector<quint16> speedVector1, speedVector2; |
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speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG,1); |
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speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG,1); |
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speed = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR; |
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return speed; |
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} |
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/*************************************************************************************************/ |
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double ServoController::getStartAngle() |
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{ |
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double speed; |
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QVector<quint16> speedVector1, speedVector2; |
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speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG,1); |
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speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG,1); |
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speed = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR; |
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return speed; |
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} |
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/*************************************************************************************************/ |
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double ServoController::getAngleOffset() |
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{ |
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double angleOffset; |
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QVector<quint16> angleOffsetVector; |
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angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE,1); |
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angleOffset = angleOffsetVector[0] / SRV_ANGLE_FACTOR; |
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return angleOffset; |
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} |
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/*************************************************************************************************/ |
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void ServoController::setAngleOffset(double offset) |
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{ |
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_modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset*SRV_ANGLE_FACTOR)); |
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} |
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/*************************************************************************************************/ |
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double ServoController::getAzimuth() |
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{ |
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double azimuth; |
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QVector<quint16> azimuthVector; |
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azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG,1); |
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azimuth = azimuthVector[0] / SRV_ANGLE_FACTOR; |
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return azimuth; |
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} |
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@ -0,0 +1,44 @@ |
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#ifndef MAINWINDOW_H |
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#define MAINWINDOW_H |
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#include <QMainWindow> |
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#include "ModbusWrapper.h" |
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#include "ModbusConfig.h" |
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#include "ServoController.h" |
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QT_BEGIN_NAMESPACE |
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namespace Ui { class MainWindow; |
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} |
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QT_END_NAMESPACE |
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class MainWindow : public QMainWindow |
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{ |
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Q_OBJECT |
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private: |
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Ui::MainWindow* ui; |
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ModbusWrapper modbusWrapper; |
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ModbusConfig configDevice; |
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ServoController _servoControler; |
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public: |
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MainWindow(QWidget* parent = nullptr); |
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~MainWindow(); |
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void printCoilsDataFromClient(QBitArray uiCoils); |
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void printRegisterDataFromClient(QVector<quint16> uiHoldingRegisters); |
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//uncrustify off |
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private slots: |
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void on_connect_clicked(); |
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//uncrustify on |
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void on_readButton_clicked(); |
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void on_writeSingleCoil_clicked(); |
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void on_writeMultiCoil_clicked(); |
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void on_writeSingleRegister_clicked(); |
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void on_writeMultiRegister_clicked(); |
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void on_fix_clicked(); |
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void on_pushButton_clicked(); |
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}; |
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#endif //MAINWINDOW_H |
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