|
|
#pragma once
|
|
|
|
|
|
#ifdef CARD_DLL_API
|
|
|
#else
|
|
|
|
|
|
#define CARD_DLL_API _declspec(dllimport)
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
class CARD_DLL_API MotorAttr
|
|
|
{
|
|
|
public:
|
|
|
MotorAttr(int axisId,
|
|
|
double curPos,
|
|
|
bool isEnable,
|
|
|
|
|
|
double acc,
|
|
|
double dec,
|
|
|
double vel,
|
|
|
|
|
|
double returnAcc,
|
|
|
double returnDec,
|
|
|
double returnHomeStartVel,
|
|
|
double returnHomeEndVel,
|
|
|
|
|
|
double positiveLimit,
|
|
|
double negativeLimit,
|
|
|
|
|
|
bool isHomed,
|
|
|
int findOriginDir,
|
|
|
double originOffset,
|
|
|
int returnHomeMode,
|
|
|
|
|
|
bool isReverse);
|
|
|
MotorAttr();
|
|
|
~MotorAttr();
|
|
|
int AxisId() const { return m_AxisId; }
|
|
|
void AxisId(int val) { m_AxisId = val; }
|
|
|
|
|
|
double CurPos() const { return m_curPos; }
|
|
|
void CurPos(double val) { m_curPos = val; }
|
|
|
|
|
|
bool Enable() const { return m_isEnable; }
|
|
|
void Enable(bool val) { m_isEnable = val; }
|
|
|
|
|
|
double Acc() const { return m_acc; }
|
|
|
void Acc(double val) { m_acc = val; }
|
|
|
|
|
|
double Dec() const { return m_dec; }
|
|
|
void Dec(double val) { m_dec = val; }
|
|
|
|
|
|
double Vel() const { return m_vel; }
|
|
|
void Vel(double val) { m_vel = val; }
|
|
|
|
|
|
double ReturnHomeStartVel() const { return m_returnHomeStartVel; }
|
|
|
void ReturnHomeStartVel(double val) { m_returnHomeStartVel = val; }
|
|
|
|
|
|
double ReturnHomeEndVel() const { return m_returnHomeEndVel; }
|
|
|
void ReturnHomeEndVel(double val) { m_returnHomeEndVel = val; }
|
|
|
|
|
|
double PositiveLimit() const { return m_PositiveLimit; }
|
|
|
void PositiveLimit(double val) { m_PositiveLimit = val; }
|
|
|
|
|
|
double NegativeLimit() const { return m_NegativeLimit; }
|
|
|
void NegativeLimit(double val) { m_NegativeLimit = val; }
|
|
|
|
|
|
bool IsHomed() const { return m_IsHomed; }
|
|
|
void IsHomed(bool val) { m_IsHomed = val; }
|
|
|
|
|
|
int FindOriginDir() const { return m_FindOriginDir; }
|
|
|
void FindOriginDir(int val) { m_FindOriginDir = val; }
|
|
|
|
|
|
double OriginOffset() const { return m_OriginOffset; }
|
|
|
void OriginOffset(double val) { m_OriginOffset = val; }
|
|
|
|
|
|
int ReturnHomeMode() const { return m_ReturnHomeMode; }
|
|
|
void ReturnHomeMode(int val) { m_ReturnHomeMode = val; }
|
|
|
|
|
|
bool IsReverse() const { return m_IsReverse; }
|
|
|
void IsReverse(bool val) { m_IsReverse = val; }
|
|
|
|
|
|
double ReturnAcc() const { return m_returnAcc; }
|
|
|
void ReturnAcc(double val) { m_returnAcc = val; }
|
|
|
|
|
|
double ReturnDec() const { return m_returnDec; }
|
|
|
void ReturnDec(double val) { m_returnDec = val; }
|
|
|
|
|
|
int PulseTo1mm() const { return m_pulseTo1mm; }
|
|
|
void PulseTo1mm(int val) { m_pulseTo1mm = val; }
|
|
|
|
|
|
public:
|
|
|
bool operator==(const MotorAttr &other) const {
|
|
|
return this->m_AxisId == other.m_AxisId;
|
|
|
}
|
|
|
private:
|
|
|
int m_AxisId = -1; //<2F><>ID
|
|
|
double m_curPos = 0.00; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰλ<C7B0><CEBB>
|
|
|
bool m_isEnable = false; //<2F><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>
|
|
|
|
|
|
double m_acc; //<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>ٶ<EFBFBD>
|
|
|
double m_dec; //<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>ٶ<EFBFBD>
|
|
|
double m_vel; //<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD>˶<EFBFBD><CBB6>ٶ<EFBFBD>
|
|
|
|
|
|
double m_returnAcc; //<2F><>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>
|
|
|
double m_returnDec; //<2F><>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>
|
|
|
|
|
|
double m_returnHomeStartVel; //<2F><>ԭ<EFBFBD>㿪ʼ<E3BFAA><CABC><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ٶ<EFBFBD>
|
|
|
double m_returnHomeEndVel; //<2F><><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ٶ<EFBFBD>
|
|
|
|
|
|
double m_PositiveLimit = 1000; //<2F><><EFBFBD><EFBFBD>λ
|
|
|
double m_NegativeLimit = -1000; //<2F><><EFBFBD><EFBFBD>λ
|
|
|
|
|
|
bool m_IsHomed = false; //<2F>Ƿ<EFBFBD><C7B7>ѻ<EFBFBD>ԭ<EFBFBD><D4AD>
|
|
|
int m_FindOriginDir = 1; //<2F><>ԭ<EFBFBD>㷽<EFBFBD><E3B7BD>
|
|
|
double m_OriginOffset = 0; //<2F>ص<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>
|
|
|
int m_ReturnHomeMode = 0; //<2F><>ԭ<EFBFBD><D4AD>ģʽ TODO <20><>ԭ<EFBFBD><D4AD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9>
|
|
|
int m_pulseTo1mm = 1000; //1mm<6D><6D>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
bool m_IsReverse = false; //<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD> TODO<44><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʲô<CAB2><C3B4>˼<EFBFBD><CBBC>
|
|
|
};
|
|
|
|
