MDX-15,20の制御用library
MDX20.h
- Committer:
- suupen
- Date:
- 2018-10-14
- Revision:
- 9:5ee05e9c5aca
- Parent:
- 8:e65e532d1933
File content as of revision 9:5ee05e9c5aca:
#ifndef MBED_MDX20_H #define MBED_MDX20_H #include "mbed.h" #include "BufferedSerial.h" #include "limits.h" class MDX20 { public: MDX20(PinName tx, PinName rx, PinName cts); ~MDX20(); void clearPositon(void); void answerPositon(int16_t *position); void answerPositonMillimeter(float *position); void integralPosition(char *str); void userOriginPositionInitial(void); uint8_t xyOrigin(void); uint8_t zOrigin(void); uint8_t sendData(char* data); int32_t axisMovingCheck(char* data); uint8_t reciveData(void); int putc(int c); uint8_t initial(void); uint8_t motorOff(void); uint8_t motorOn(void); uint8_t userOriginInitial(void); uint8_t userXYOriginInitial(void); uint8_t userZOriginInitial(void); uint8_t final(void); // uint8_t zeroSetting(void); uint8_t XYZMove(int16_t x, int16_t y, int16_t z); void offsetXAxisAdjustment(int16_t axisData); void offsetYAxisAdjustment(int16_t axisData); void offsetZAxisAdjustment(int16_t axisData); int32_t motorStateCheck(void); int32_t connectCheck(void); private: BufferedSerial _serial; // tx, rx(NC) DigitalIn _cts; void translationToControlerAxisMoveDataFromRMLAxisMoveData(char *str); char B_masterTx[0xff]; int16_t D_position[3]; //[0]:x, [1]:y, [2]:z int16_t D_userOriginPosition[3]; //[0]:x, [1]:y, [2]:z int32_t motorState; // true:ON false:OFF #define countToMillimeter (0.025) #define Z_x (0) #define Z_y (1) #define Z_z (2) #define Z_xAxisMin (0) #define Z_xAxisMax (8128) #define Z_yAxisMin (0) #define Z_yAxisMax (6096) #define Z_zAxisMin (-2420) #define Z_zAxisMax (0) }; #endif // MBED_MDX20_H