55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#include "ZouZhiMotor.h"
|
|
#include <thread>
|
|
|
|
ZouZhiMotor::ZouZhiMotor()
|
|
: Motor(motorPorts_Zouzhi)
|
|
{
|
|
//auto t_smbtype = smbtype == SMBType::MB_DRV_TMC216 ? MotorConfig::MTBDType::MT_TMC : MotorConfig::MTBDType::MT_DRV;
|
|
auto t_smbtype = MotorConfig::MTBDType::MT_TMC;
|
|
m_zouparamex = m_mtconfig->GetMotorSpeedParam(true, t_smbtype, 4, 1, 1);
|
|
speedConfig();
|
|
}
|
|
|
|
ZouZhiMotor::~ZouZhiMotor()
|
|
{
|
|
}
|
|
|
|
void ZouZhiMotor::start()
|
|
{
|
|
Motor::setDirection(0);
|
|
Motor::start(delays, m_zouparamex.mt_param);
|
|
}
|
|
|
|
void ZouZhiMotor::speedChange(int speed, int dpi, int colormode) // speed should be in range [0,5] (by ply,at 2019.5.23)
|
|
{
|
|
//auto t_smbtype = smbtype == SMBType::MB_DRV_TMC216 ? MotorConfig::MTBDType::MT_TMC : MotorConfig::MTBDType::MT_DRV;
|
|
auto t_smbtype = MotorConfig::MTBDType::MT_TMC;
|
|
m_zouparamex = m_mtconfig->GetMotorSpeedParam(true, t_smbtype, speed, colormode, dpi);
|
|
speedConfig();
|
|
}
|
|
|
|
void ZouZhiMotor::speedRecover()
|
|
{
|
|
speedConfig();
|
|
}
|
|
|
|
void ZouZhiMotor::speedConfig()
|
|
{
|
|
LOG("ZouZhiMotor speed=%d \n dpi=%d \n colormode=%d \n finalPeriod=%d \n Fmin=%d \n a=%.2f \n offset=%.2f \n stepnum=%.2f \n finalDelay=%.2f \n ",
|
|
m_zouparamex.speed,
|
|
m_zouparamex.dpi,
|
|
m_zouparamex.colormode,
|
|
m_zouparamex.mt_param.finalPeriod,
|
|
m_zouparamex.mt_param.Fmin,
|
|
m_zouparamex.mt_param.a,
|
|
m_zouparamex.mt_param.offset,
|
|
m_zouparamex.mt_param.stepnum,
|
|
m_zouparamex.mt_param.finalDelay);
|
|
|
|
delays.clear();
|
|
|
|
delays = speedup_cfg(m_zouparamex.mt_param.finalPeriod, m_zouparamex.mt_param.Fmin, m_zouparamex.mt_param.stepnum, m_zouparamex.mt_param.a,
|
|
m_zouparamex.mt_param.offset, m_zouparamex.mt_param.finalDelay);
|
|
}
|
|
|