eddy/BTA_utils
1
0
Fork 0
mirror of https://github.com/eddyem/BTA_utils.git synced 2026-08-15 20:49:27 +03:00
Code Issues Packages Projects Releases Wiki Activity

add motors emulation

Browse Source
This commit is contained in:
Edward Emelianov
2026-08-11 16:53:11 +03:00
parent 25d35e2294
commit a996bae853
12 changed files with 165 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
BTA_dome_modbus/motors.h
View File

@@ -19,7 +19,11 @@
#pragma once
#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)
// low, medium and high speeds
#define LSpeed 71
@@ -45,15 +49,23 @@ typedef struct{
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);
int motors_set_curntsetpoint(double);
void modbus_close();
double motors_get_speedsetpoint();
int motors_set_speedsetpoint(double);
int motors_get_activenum();
int motors_set_activenum(int);
void motors_stop();
int motors_get_actcurrent(double*);
int motors_get_actspeed(double*);
int motors_get_actstatus(int*);
extern void (*motors_process)();
extern int (*modbus_open)(const char *, int);
extern void (*modbus_close)();
void set_emulation_mode();