mirror of
https://github.com/eddyem/zeiss_utils.git
synced 2025-12-06 02:35:15 +03:00
68 lines
1.9 KiB
C
68 lines
1.9 KiB
C
/*
|
|
* This file is part of the Zphocus project.
|
|
* Copyright 2019 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
|
|
#ifndef CAN_ENCODER_H__
|
|
#define CAN_ENCODER_H__
|
|
|
|
#include <stdint.h>
|
|
|
|
typedef enum{
|
|
CAN_NOERR = 0,
|
|
CAN_CANTSEND,
|
|
CAN_NOANSWER,
|
|
CAN_WARNING,
|
|
CAN_ERROR
|
|
} canstatus;
|
|
|
|
typedef enum{
|
|
ESW_INACTIVE = 0,
|
|
ESW_CW_ACTIVE = 1,
|
|
ESW_CCW_ACTIVE = 2,
|
|
ESW_BOTH_ACTIVE = 3
|
|
} eswstate;
|
|
|
|
// system state
|
|
typedef enum{
|
|
// non-blocking statuses:
|
|
STAT_OK, // all OK
|
|
// blocking statuses:
|
|
STAT_ESW, // end-switch active
|
|
STAT_GOFROMESW, // mowing from end-switch
|
|
STAT_ERROR, // error state
|
|
STAT_FORBIDDEN, // forbidden position
|
|
STAT_DAMAGE // the device in damaged state and can't work further
|
|
} sysstatus;
|
|
|
|
int init_encoder(int encnode, int reset);
|
|
void returnPreOper(long long presetval);
|
|
int getPos(double *pos);
|
|
double curPos();
|
|
int init_motor_ids(int addr);
|
|
void movewithmon(double spd);
|
|
canstatus get_motor_speed(double *spd);
|
|
canstatus get_endswitches(eswstate *Esw);
|
|
int move2pos(double target);
|
|
int stop();
|
|
int movewconstspeed(int16_t spd);
|
|
int go_out_from_ESW();
|
|
sysstatus get_status();
|
|
int get_pos_speed(unsigned long *pos, double *speed);
|
|
|
|
#endif // CAN_ENCODER_H__
|