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https://github.com/eddyem/zeiss_utils.git
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68 lines
1.9 KiB
C
68 lines
1.9 KiB
C
/*
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* This file is part of the Zphocus project.
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* Copyright 2019 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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#ifndef CAN_ENCODER_H__
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#define CAN_ENCODER_H__
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#include <stdint.h>
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typedef enum{
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CAN_NOERR = 0,
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CAN_CANTSEND,
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CAN_NOANSWER,
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CAN_WARNING,
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CAN_ERROR
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} canstatus;
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typedef enum{
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ESW_INACTIVE = 0,
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ESW_CW_ACTIVE = 1,
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ESW_CCW_ACTIVE = 2,
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ESW_BOTH_ACTIVE = 3
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} eswstate;
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// system state
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typedef enum{
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// non-blocking statuses:
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STAT_OK, // all OK
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// blocking statuses:
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STAT_ESW, // end-switch active
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STAT_GOFROMESW, // mowing from end-switch
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STAT_ERROR, // error state
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STAT_FORBIDDEN, // forbidden position
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STAT_DAMAGE // the device in damaged state and can't work further
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} sysstatus;
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int init_encoder(int encnode, int reset);
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void returnPreOper();
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int getPos(double *pos);
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double curPos();
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int init_motor_ids(int addr);
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void movewithmon(double spd);
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canstatus get_motor_speed(double *spd);
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canstatus get_endswitches(eswstate *Esw);
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int move2pos(double target);
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int stop();
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int movewconstspeed(int16_t spd);
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int go_out_from_ESW();
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sysstatus get_status();
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int get_pos_speed(unsigned long *pos, double *speed);
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#endif // CAN_ENCODER_H__
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