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https://github.com/eddyem/BTA_utils.git
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60 lines
1.6 KiB
C
60 lines
1.6 KiB
C
/*
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* This file is part of the sslsosk project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define MAX_SPEED (700.)
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#define MAX_CURRENT (15.)
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#define MOTORS_AMOUNT (10)
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// low, medium and high speeds
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#define LSpeed 71
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#define MSpeed 350
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#define HSpeed 610
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// ID of first motor minus 1
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#define START_ID (0)
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// ID of motor (n=1..MOTORS_AMOUNT)
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#define MOTOR_ID(n) (n + START_ID)
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// motors' status
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enum{
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MOT_OFF,
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MOT_SLEEP,
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MOT_RUN,
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MOT_ERROR
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};
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typedef struct{
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int status;
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double speed;
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double current;
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} motor_state_t;
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void motors_stop();
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double motors_get_curntsetpoint();
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int motors_set_curntsetpoint(double val);
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double motors_get_speedsetpoint();
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int motors_set_speedsetpoint(double val);
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int motors_get_activenum();
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int motors_set_activenum(int N);
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int motors_get_actcurrent(double *val);
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int motors_get_actspeed(double *val);
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int motors_get_actstatus(int *val);
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void modbus_close();
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