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#pragma once
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#include <windows.h>
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#include <algorithm>
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#include "Logger.h"
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#include "CGugaoDriver.h"
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#include "Motor.h"
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class _declspec(dllexport) CMotorDriver : public CGugaoDriver
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{
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public:
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CMotorDriver();
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~CMotorDriver();
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int Relmove(int motorId, double pos, bool waitFinished);
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int AbsmoveMulti(std::vector<int> motorIdVec, std::vector<double> posVec, bool waitFinished);
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int RelmoveMulti(std::vector<int> motorIdVec, std::vector<double> posVec, bool waitFinished);
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int Home(int motorId, bool waitFinished);
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int allAxisHome(std::vector<int> allAxisId, bool waitFinished);
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void ResetAxisErr(std::vector<int> axisId);
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int AddMotor(const MotorAttr& motor);
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int DeleteMotor(int motorId);
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int ModifyMotor(const MotorAttr& motor);
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MotorAttr QueryMotor(int motorId);
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void ClearAllAxis();
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public:
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//<2F><>д
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double GetCurPos(int motorId);
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public:
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std::vector<MotorAttr>* m_motor = nullptr; //<2F><><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>Ĺ<EFBFBD><C4B9><EFBFBD>
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bool m_open = false;;//<2F><><EFBFBD>ƿ<EFBFBD><C6BF>Ƿ<EFBFBD><C7B7><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD>ɹ<EFBFBD>
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const short m_gugaoCardCore = 1;
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};
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