60 lines
1.9 KiB
C
60 lines
1.9 KiB
C
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#ifndef STEPPER_H
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#define STEPPER_H
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#include <QObject>
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#include <QtSerialPort/QtSerialPort>
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#include <QSerialPortInfo>
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#include <QSerialPort>
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#define STEPPER_OK 0
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#define STEPPER_ERROR_NOREPLY -1
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#define STEPPER_ERROR_CHECKSUM -2
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#define STEPPER_MVP_ABSOLUTE 0
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#define STEPPER_MVP_RELATIVE 1
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#define STEPPER_SAP_TARGET_POSITION 0
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#define STEPPER_SAP_ACTUAL_POSITION 1
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#define STEPPER_SAP_TARGET_SPEED 2
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#define STEPPER_SAP_ACTUAL_SPEED 3
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#define STEPPER_SAP_MAXIMUM_SPEED 4
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#define STEPPER_SAP_MAXIMUM_ACCELERATION 5
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#define STEPPER_SAP_MAXIMUM_CURRENT 6
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#define STEPPER_SAP_STANDBY_CURRENT 7
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#define STEPPER_SAP_RIGHT_SWITCH_DISABLE 12
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#define STEPPER_SAP_LEFT_SWITCH_DISABLE 13
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#define STEPPER_SAP_MINIMUM_SPEED 130
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#define STEPPER_SAP_RAMP_MODE 138
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#define STEPPER_SAP_MICROSTEP_RESOLUTION 140 //0(full step) to 6 (/64 microstep)
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//there are many others...
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class Stepper : public QObject
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{
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Q_OBJECT
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public:
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explicit Stepper(QObject *parent = 0);
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~Stepper();
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int command(int command, int type, unsigned int parameter, unsigned int *param_out = NULL);
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int connect(int address);
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void disconnect();
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int command_ROL(int speed); //rotate left
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int command_ROR(int speed); //rotate right
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int command_MST(); //motor stop
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int command_MVP(int ref_type, int position); //move to position; ref_type: STEPPER_MVP_ABSOLUTE or STEPPER_MVP_RELATIVE
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int command_SAP(int parameter_number, int value); //Set axis parameter. See defines.
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int command_GAP(int parameter_number, int *value); //Get axis parameter. See defines for SAP.
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int moduleAddress;
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int isOpen;
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QString portName;
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QSerialPort serialPort;
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signals:
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public slots:
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protected:
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};
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#endif // STEPPER_H
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