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1st approach

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This commit is contained in:
Edward Emelianov
2026-09-01 16:00:51 +03:00
parent 11f3553344
commit ae999fcd48
9 changed files with 104 additions and 38 deletions
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13
BTA_dome_modbus/motors.h
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@@ -21,10 +21,11 @@
// max errors per motor to mean it OFF
#define MAX_ERRORS 5
#define MAX_SPEED 700.
// freq_scale == 100, so for UINT16_t we can't make speed more than 655.35
#define MAX_SPEED 655.
#define SPEED_TOLERANCE 0.01
// emulation acceleration, min^-2
#define EMUL_ACCEL 20000.
#define EMUL_ACCEL 10000.
#define MAX_CURRENT 15.
#define DEFAULT_CURRENT 10.
#define MOTORS_AMOUNT 10
@@ -33,10 +34,12 @@
#define MSpeed 350
#define HSpeed 610
// modbus responce timeout, ms
#define MODBUS_RESPONCE_TIMEOUT 100000
// ID of first motor minus 1
#define START_ID (0)
// ID of motor (n=1..MOTORS_AMOUNT)
// ID of first motor
#define START_ID (1)
// ID of nth motor (n=0..MOTORS_AMOUNT-1 - index)
#define MOTOR_ID(n) (n + START_ID)
// motors' status