nxt

BTA_dome_modbus/motors.c

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+/*
+ * This file is part of the sslsosk project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <usefull_macros.h>
+
+#include "motors.h"
+
+#if 0
+ðÒÏÔÏËÏÌ (s - ÓÅÔÔÅÒ, g - getteer):
+relay=xxx - (sg) ËÏÍÁÎÄÁ ÒÅÌÅ
+motnum=xx - (sg) ÐÏÌÕÞÉÔØ Ó×ÅÄÅÎÉÑ Ï Ä×ÉÇÁÔÅÌÅ Ó ÎÏÍÅÒÏÍ ÈÈ
+(ÔÅËÕÝÅÅ ÓÏÓÔÏÑÎÉÅ):
+motstatus=xx - (g) ÓÏÓÔÏÑÎÉÅ ÍÏÔÏÒÁ
+motspeed=xx - (g) ÒÅÁÌØÎÁÑ ÓËÏÒÏÓÔØ
+motcurrent=xx - (g) ÒÅÁÌØÎÙÊ ÔÏË
+(ÄÌÑ ×ÓÅÈ ÍÏÔÏÒÏ×):
+speed=xx - (sg) ÕÓÔÁ×ËÁ ÓËÏÒÏÓÔÉ
+current=xx - (sg) ÕÓÔÁ×ËÁ ÔÏËÁ
+#endif
+
+// set points
+static double currentSet = 0., speedSet = 0.;
+// current motor for status etc. getters
+static int motindex = 0;
+
+// stop all
+void motors_stop(){
+    ;
+}
+
+// close modbus connection
+void modbus_close(){
+    ;
+}
+
+// current setpoint getter
+double motors_get_curntsetpoint(){
+    return currentSet;
+}
+// set setpoint of current
+int motors_set_curntsetpoint(double val){
+    if(val < 0. || val > MAX_CURRENT) return FALSE;
+    // do something
+    return TRUE;
+}
+
+// get setpoint of speed
+double motors_get_speedsetpoint(){
+    return speedSet;
+}
+// set setpoint of speed
+int motors_set_speedsetpoint(double val){
+    double absval = fabs(val);
+    if(absval > MAX_SPEED) return FALSE;
+    // do something
+    return TRUE;
+}
+
+// get number of active motor
+int motors_get_activenum(){ return motindex; }
+// set number of active motor
+int motors_set_activenum(int N){
+    if(N < 1 || N > MOTORS_AMOUNT) return FALSE;
+    motindex = N;
+    return TRUE;
+}
+
+// get current value for active motor
+int motors_get_actcurrent(double *val){
+    if(val) *val = 0.;
+    return TRUE;
+}
+
+// get speed for active motor
+int motors_get_actspeed(double *val){
+    if(val) *val = 0.;
+    return TRUE;
+}
+
+// get status for active motor
+int motors_get_actstatus(int *val){
+    if(val) *val = 0;
+    return TRUE;
+}