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servo ui tested bu simulator the addres is wrong just for test

test
nasicurious 3 years ago
parent
016bfec359
commit
bba37eb86e
4 changed files with 140 additions and 104 deletions
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  1. 81
      Servo/include/ServoController.h
  2. 104
      Servo/src/ServoController.cpp
  3. 8
      Test/MainWindow.cpp
  4. 51
      Test/MainWindow.ui

81
Servo/include/ServoController.h
View File

@ -6,49 +6,48 @@
class ServoController class ServoController
{ {
private: private:
ModbusWrapper _modbusWrapper; ModbusWrapper _modbusWrapper;
const int SRV_START_ANGLE_INT_PART_REG = 2000; const int SRV_START_ANGLE_INT_PART_REG = 2000;
const int SRV_STOP_ANGLE_INT_PART_REG = 2001; const int SRV_STOP_ANGLE_INT_PART_REG = 2001;
const int SRV_AZIMUTH_SPEED_REG = 2002; const int SRV_AZIMUTH_SPEED_REG = 2002;
const int SRV_APPLY_SETTING_REG = 2004; const int SRV_APPLY_SETTING_REG = 2003;//2004;
const int SRV_START_STOP_REG = 2005; const int SRV_START_STOP_REG = 2004; //2005;
const int SRV_ZERO_OFFSET_ANGLE = 2007; const int SRV_ZERO_OFFSET_ANGLE = 2005; //2007;
const int SRV_START_ANGLE_FRAC_PART_REG = 2010; const int SRV_START_ANGLE_FRAC_PART_REG = 2006; //2010;
const int SRV_STOP_ANGLE_FRAC_PART_REG = 2011; const int SRV_STOP_ANGLE_FRAC_PART_REG = 2007; //2011;
const int SRV_CALIBRATE_REG = 2013; const int SRV_CALIBRATE_REG = 2008; //2013;
const int SRV_ENABLE_DRIVE_REG = 2017; const int SRV_ENABLE_DRIVE_REG = 2009; //2017;
const int SRV_AZIMUTH_REG = 2030; const int SRV_AZIMUTH_REG = 2010; //2030;
const int SRV_ANGLE_FACTOR = 100; const double SRV_ANGLE_FACTOR = 100.0;
const int SRV_SPEED_FACTOR = 1000; const double SRV_SPEED_FACTOR = 1000.0;
const quint16 SRV_APPLY_SETTING_VAL = 1000; const quint16 SRV_APPLY_SETTING_VAL = 176;
const quint16 SRV_CALIBRATION_VAL = 13576; const quint16 SRV_CALIBRATION_VAL = 13576;
void apply(); void apply();
void enableDrive(); void enableDrive();
void setStartStop(bool start); void setStartStop(bool start);
void setStartAngle(double angle); void setStartAngle(double angle);
void setStopAngle(double angle); void setStopAngle(double angle);
void setSpeed(double speed); void setSpeed(double speed);
void changeMode(double startAngle, double stopAngle, double speed); void changeMode(double startAngle, double stopAngle, double speed);
ModbusConfig initiateConfig(); ModbusConfig initiateConfig(QString serialPort);
public: public:
void init(); void init(QString serialPort);
void startMoving(); void startMoving();
void stopMoving(); void stopMoving();
void resetAzimuth(); void resetAzimuth();
void fix(double angle); void fix(double angle);
void sector(double startAngle, double stopAngle, double speed); void sector(double startAngle, double stopAngle, double speed);
double getSpeed(); double getSpeed();
double getStopAngle(); double getStopAngle();
double getStartAngle(); double getStartAngle();
double getAngleOffset(); double getAngleOffset();
void setAngleOffset(double offset); void setAngleOffset(double offset);
double getAzimuth(); double getAzimuth();
}; };
#endif // SERVOCONTROLLER_H #endif //SERVOCONTROLLER_H

104
Servo/src/ServoController.cpp
View File

@ -1,143 +1,157 @@
#include "ServoController.h" #include "ServoController.h"
ModbusConfig ServoController::initiateConfig() ModbusConfig ServoController::initiateConfig(QString serialPort)
{ {
ModbusConfig _config; ModbusConfig _config;
_config.baud =QSerialPort::Baud19200; _config.baud = QSerialPort::Baud19200;
_config.parity = QSerialPort::EvenParity; _config.parity = QSerialPort::EvenParity;
_config.dataBits = QSerialPort::Data8; _config.dataBits = QSerialPort::Data8;
_config.stopBits = QSerialPort::OneStop; _config.stopBits = QSerialPort::OneStop;
_config.responseTime = 2000; _config.responseTime = 2000;
return _config; _config.serialPort = serialPort;
_config.clientAddress = 1;
return _config;
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::apply() void ServoController::apply()
{ {
_modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL); _modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::enableDrive() void ServoController::enableDrive()
{ {
_modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3); _modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3);
apply(); apply();
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::setStartStop(bool start) void ServoController::setStartStop(bool start)
{ {
_modbusWrapper.setSingleRegister(SRV_START_STOP_REG, start ? 3 : 0); _modbusWrapper.setSingleRegister(SRV_START_STOP_REG, start ? 3 : 0);
apply(); apply();
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::setStartAngle(double angle) void ServoController::setStartAngle(double angle)
{ {
_modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(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)); _modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG,
static_cast<quint16>((angle - (static_cast<int>(angle))) *
100));
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::setStopAngle(double angle) void ServoController::setStopAngle(double angle)
{ {
_modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(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)); _modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG,
static_cast<quint16>((angle - (static_cast<int>(angle))) *
100));
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::setSpeed(double speed) void ServoController::setSpeed(double speed)
{ {
_modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed * SRV_SPEED_FACTOR)); _modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG,
static_cast<quint16>(speed * SRV_SPEED_FACTOR));
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::changeMode(double startAngle, double stopAngle, double speed) void ServoController::changeMode(double startAngle, double stopAngle, double speed)
{ {
setStartAngle(startAngle); setStartAngle(startAngle);
setStopAngle(stopAngle); setStopAngle(stopAngle);
setSpeed(speed); setSpeed(speed);
setStartStop(true); setStartStop(true);
enableDrive(); enableDrive();
apply(); apply();
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::init() void ServoController::init(QString serialPort)
{ {
_modbusWrapper.init(); _modbusWrapper.init();
_modbusWrapper.connectToDevice(initiateConfig()); _modbusWrapper.connectToDevice(initiateConfig(serialPort));
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::startMoving() void ServoController::startMoving()
{ {
setStartStop(true); setStartStop(true);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::stopMoving() void ServoController::stopMoving()
{ {
setStartStop(false); setStartStop(false);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::resetAzimuth() void ServoController::resetAzimuth()
{ {
_modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL); _modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::fix(double angle) void ServoController::fix(double angle)
{ {
changeMode(angle, angle, 5 / 6.0); changeMode(angle, angle, 5 / 6.0);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::sector(double startAngle, double stopAngle, double speed) void ServoController::sector(double startAngle, double stopAngle, double speed)
{ {
changeMode(startAngle, stopAngle, speed); changeMode(startAngle, stopAngle, speed);
} }
/*************************************************************************************************/ /*************************************************************************************************/
double ServoController::getSpeed() double ServoController::getSpeed()
{ {
auto speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG, 1); auto speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG, 1);
return (speedVector[0] / SRV_SPEED_FACTOR);
return (speedVector[0] / SRV_SPEED_FACTOR);
} }
/*************************************************************************************************/ /*************************************************************************************************/
double ServoController::getStopAngle() double ServoController::getStopAngle()
{ {
auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG, 1); auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG, 1);
auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG, 1); auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG, 1);
return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
} }
/*************************************************************************************************/ /*************************************************************************************************/
double ServoController::getStartAngle() double ServoController::getStartAngle()
{ {
auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG, 1); auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG, 1);
auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG, 1); auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG, 1);
return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
} }
/*************************************************************************************************/ /*************************************************************************************************/
double ServoController::getAngleOffset() double ServoController::getAngleOffset()
{ {
auto angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE, 1); auto angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE, 1);
return (angleOffsetVector[0] / SRV_ANGLE_FACTOR);
return (angleOffsetVector[0] / SRV_ANGLE_FACTOR);
} }
/*************************************************************************************************/ /*************************************************************************************************/
void ServoController::setAngleOffset(double offset) void ServoController::setAngleOffset(double offset)
{ {
_modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset * SRV_ANGLE_FACTOR)); _modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE,
static_cast<quint16>(offset * SRV_ANGLE_FACTOR));
} }
/*************************************************************************************************/ /*************************************************************************************************/
double ServoController::getAzimuth() double ServoController::getAzimuth()
{ {
auto azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG, 1); auto azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG, 1);
return (azimuthVector[0] / SRV_ANGLE_FACTOR);
return (azimuthVector[0] / SRV_ANGLE_FACTOR);
} }

8
Test/MainWindow.cpp
View File

@ -17,6 +17,7 @@ MainWindow::MainWindow(QWidget* parent)
MainWindow::~MainWindow() MainWindow::~MainWindow()
{ {
delete ui; delete ui;
timer->stop();
} }
/*************************************************************************************************/ /*************************************************************************************************/
@ -196,12 +197,11 @@ void MainWindow::on_writeMultiRegister_clicked()
void MainWindow::on_init_clicked() void MainWindow::on_init_clicked()
{ {
try { try {
_servoControler.init(); _servoControler.init(ui->serialPortServo->text());
timer = new QTimer(); timer = new QTimer();
timer->setInterval(2000); timer->setInterval(1000);
timer->start(); timer->start();
connect(timer, &QTimer::timeout, this, &MainWindow::handleGetRequestFromServo); connect(timer, &QTimer::timeout, this, &MainWindow::handleGetRequestFromServo);
timer->stop();
} }
catch(ServoException exp) catch(ServoException exp)
{ {
@ -279,7 +279,7 @@ void MainWindow::on_sectorSpeed_clicked()
void MainWindow::on_fix_clicked() void MainWindow::on_fix_clicked()
{ {
try { try {
_servoControler.fix(ui->speed->text().toDouble()); _servoControler.fix(ui->startAngle->text().toDouble());
} }
catch(ServoException exp) catch(ServoException exp)
{ {

51
Test/MainWindow.ui
View File

@ -33,9 +33,9 @@
<widget class="QPushButton" name="connect"> <widget class="QPushButton" name="connect">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>40</x> <x>30</x>
<y>10</y> <y>10</y>
<width>89</width> <width>141</width>
<height>25</height> <height>25</height>
</rect> </rect>
</property> </property>
@ -47,7 +47,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>20</x> <x>20</x>
<y>420</y> <y>460</y>
<width>761</width> <width>761</width>
<height>91</height> <height>91</height>
</rect> </rect>
@ -230,7 +230,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QComboBox" name="writeTable"> <widget class="QComboBox" name="writeTable">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>250</x> <x>260</x>
<y>10</y> <y>10</y>
<width>86</width> <width>86</width>
<height>25</height> <height>25</height>
@ -421,7 +421,7 @@ background-color: rgb(186, 178, 158);</string>
<x>40</x> <x>40</x>
<y>50</y> <y>50</y>
<width>301</width> <width>301</width>
<height>341</height> <height>331</height>
</rect> </rect>
</property> </property>
<property name="title"> <property name="title">
@ -431,7 +431,7 @@ background-color: rgb(186, 178, 158);</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>16</x> <x>16</x>
<y>120</y> <y>110</y>
<width>281</width> <width>281</width>
<height>181</height> <height>181</height>
</rect> </rect>
@ -441,7 +441,7 @@ background-color: rgb(186, 178, 158);</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>110</x> <x>110</x>
<y>310</y> <y>300</y>
<width>80</width> <width>80</width>
<height>25</height> <height>25</height>
</rect> </rect>
@ -506,7 +506,7 @@ background-color: rgb(186, 178, 158);</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>20</x> <x>20</x>
<y>100</y> <y>90</y>
<width>126</width> <width>126</width>
<height>17</height> <height>17</height>
</rect> </rect>
@ -519,7 +519,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QLabel" name="label_6"> <widget class="QLabel" name="label_6">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>200</x> <x>210</x>
<y>10</y> <y>10</y>
<width>41</width> <width>41</width>
<height>25</height> <height>25</height>
@ -539,7 +539,7 @@ background-color: rgb(186, 178, 158);</string>
<rect> <rect>
<x>30</x> <x>30</x>
<y>20</y> <y>20</y>
<width>471</width> <width>671</width>
<height>71</height> <height>71</height>
</rect> </rect>
</property> </property>
@ -549,7 +549,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QPushButton" name="ResetAzimuth"> <widget class="QPushButton" name="ResetAzimuth">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>340</x> <x>542</x>
<y>30</y> <y>30</y>
<width>111</width> <width>111</width>
<height>25</height> <height>25</height>
@ -562,7 +562,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QPushButton" name="init"> <widget class="QPushButton" name="init">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>28</x> <x>230</x>
<y>30</y> <y>30</y>
<width>61</width> <width>61</width>
<height>25</height> <height>25</height>
@ -575,7 +575,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QPushButton" name="startMoving"> <widget class="QPushButton" name="startMoving">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>110</x> <x>312</x>
<y>30</y> <y>30</y>
<width>91</width> <width>91</width>
<height>25</height> <height>25</height>
@ -588,7 +588,7 @@ background-color: rgb(186, 178, 158);</string>
<widget class="QPushButton" name="stopMoving"> <widget class="QPushButton" name="stopMoving">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>210</x> <x>412</x>
<y>30</y> <y>30</y>
<width>91</width> <width>91</width>
<height>25</height> <height>25</height>
@ -598,6 +598,29 @@ background-color: rgb(186, 178, 158);</string>
<string>StopMoving</string> <string>StopMoving</string>
</property> </property>
</widget> </widget>
<widget class="QLabel" name="label_19">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>81</width>
<height>25</height>
</rect>
</property>
<property name="text">
<string>SerialPort:</string>
</property>
</widget>
<widget class="QLineEdit" name="serialPortServo">
<property name="geometry">
<rect>
<x>90</x>
<y>30</y>
<width>121</width>
<height>25</height>
</rect>
</property>
</widget>
</widget> </widget>
<widget class="QGroupBox" name="groupBox_12"> <widget class="QGroupBox" name="groupBox_12">
<property name="geometry"> <property name="geometry">

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