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add modbus support, need to test

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This commit is contained in:
Edward Emelianov
2026-08-12 10:31:13 +03:00
parent a996bae853
commit 11f3553344
6 changed files with 174 additions and 28 deletions
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26
BTA_dome_modbus/motors.h
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@@ -18,17 +18,21 @@
#pragma once
#define MAX_SPEED (700.)
#define SPEED_TOLERANCE (0.01)
// max errors per motor to mean it OFF
#define MAX_ERRORS 5
#define MAX_SPEED 700.
#define SPEED_TOLERANCE 0.01
// emulation acceleration, min^-2
#define EMUL_ACCEL (20000.)
#define MAX_CURRENT (15.)
#define DEFAULT_CURRENT (10.)
#define MOTORS_AMOUNT (10)
#define EMUL_ACCEL 20000.
#define MAX_CURRENT 15.
#define DEFAULT_CURRENT 10.
#define MOTORS_AMOUNT 10
// low, medium and high speeds
#define LSpeed 71
#define MSpeed 350
#define HSpeed 610
#define LSpeed 71
#define MSpeed 350
#define HSpeed 610
// ID of first motor minus 1
#define START_ID (0)
@@ -65,7 +69,7 @@ int motors_get_actstatus(int*);
extern void (*motors_process)();
extern int (*modbus_open)(const char *, int);
extern void (*modbus_close)();
extern int (*motors_open)(const char *, int);
extern void (*motors_close)();
void set_emulation_mode();