41 lines
789 B
C++
41 lines
789 B
C++
#pragma once
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#include "Motor.h"
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#include <thread>
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#include <iostream>
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class CuoZhiMotor : public Motor
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{
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public:
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const MotorSpeedParam mspCuozhiBackward= {.finalPeriod = 627500,.Fmin = 1407750,.stepnum = 25,.a=150,.offset=8,.finalDelay=3000,.acceleration_time=0};
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public:
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CuoZhiMotor();
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~CuoZhiMotor();
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void reset();
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virtual void start();
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void startAsyn();
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void pauseWaitForThread();
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void backward();
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void feeding();
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void speedChange(MotorSpeedParamEx paramex);
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void speedRecover();
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private:
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MotorSpeedParam mspCuozhiFeeding;
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std::vector<int> delays_forward;
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MotorSpeedParamEx m_cuoparamex;
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std::vector<int> delays_backward;
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std::vector<int> delays_feeding;
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std::thread thStart;
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void forward();
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void speedConfig();
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};
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