Aerotech系列（0）运动控制篇

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已于 2025-06-24 13:58:59 修改 · 855 阅读

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#qt #aerotech #a3200

于 2023-07-27 20:54:02 首次发布

#include <stdio.h>
#include <tchar.h>

// Main include file
#include "A3200.h"

#include <QDebug>

// See the pre-build event to see the System Library dlls being copied to the output directory

#define NUM_LINES 10
#define LINE_SIZE 128

// This function will print whatever the latest error was
void PrintError();

int main(int argc, char **argv)
{
//1.generic example
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200AcknowledgeAll(handle, TASKID_01);
//    A3200Disconnect(handle);
//    DOUBLE result;
//    if(A3200Connect(&handle)) {

//        A3200MotionDisable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));

//        // Gets axis status and gets its first bit
//        A3200CommandExecute(handle, TASKID_Library, "AxisStatus(X, DATAITEM_AxisStatus) & 0x1", &result);
//        qDebug() << "Axis X status is： " << result;

//        A3200CommandExecute(handle, TASKID_Library, "AxisStatus(Y, DATAITEM_AxisStatus) & 0x1", &result);
//        qDebug() << "Axis Y status is： " << result;

//        A3200Disconnect(handle);

//    }

//2.Motion Examples
//2.1 enable
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200Disconnect(handle);

 //2.2 disaable
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionDisable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200Disconnect(handle);

//2.3 faultAck
//    A3200Handle handle;
//    A3200Connect(&handle);
//    bool bhas_fault = A3200MotionFaultAck(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    qDebug() << bhas_fault;
//    A3200Disconnect(handle);
//2.4 home
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01| AXISMASK_02));
//    A3200MotionHome(han