nxt

BTA_dome_modbus/motors.h

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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/>.
+ */
+
+#pragma once
+
+#define MAX_SPEED       (700.)
+#define MAX_CURRENT     (15.)
+#define MOTORS_AMOUNT   (10)
+// low, medium and high speeds
+#define LSpeed    71
+#define MSpeed    350
+#define HSpeed    610
+
+// ID of first motor minus 1
+#define START_ID        (0)
+// ID of motor (n=1..MOTORS_AMOUNT)
+#define MOTOR_ID(n)     (n + START_ID)
+
+// motors' status
+enum{
+    MOT_OFF,
+    MOT_SLEEP,
+    MOT_RUN,
+    MOT_ERROR
+};
+
+typedef struct{
+    int status;
+    double speed;
+    double current;
+} motor_state_t;
+
+void motors_stop();
+double motors_get_curntsetpoint();
+int motors_set_curntsetpoint(double val);
+double motors_get_speedsetpoint();
+int motors_set_speedsetpoint(double val);
+int motors_get_activenum();
+int motors_set_activenum(int N);
+int motors_get_actcurrent(double *val);
+int motors_get_actspeed(double *val);
+int motors_get_actstatus(int *val);
+
+void modbus_close();