mpc02.h

运动控制VC实例demo1001c01w9xw2km02

#ifndef _INTERACT_H
#define _INTERACT_H

#ifndef _MSC_VER
#define WINAPI __stdcall
#endif

#ifdef __cplusplus
extern "C" {
#endif

/////////////////////////////////////////////////////
int WINAPI get_err(int i);
void WINAPI clear_err(void);
int WINAPI set_board_num(int num);
int WINAPI set_axe(int board_no,int num);
int WINAPI set_board_base(int board_no,int b);
int WINAPI set_board_mode(int board_no,int mode);
int WINAPI turnon_axis(int axe_no);
int WINAPI turnoff_axis(int axe_no);
int WINAPI turnon_board(int board_no);
int WINAPI turnoff_board(int board_no);
int WINAPI get_board_base(int board_no);
int WINAPI get_max_axe(void);
int WINAPI auto_set(void);

int WINAPI init_board(void);
int WINAPI check_board(void);
int WINAPI auto_check(void);

int WINAPI set_outmode(int ch,int mode,int logic);
int WINAPI set_getpos_mode(int ch,int mode);
int WINAPI set_encoder_mode(long ch,long mode,long multip,long count_unit);
int WINAPI set_home_mode(int ch,int origin_mode);

int WINAPI set_board_irq(int b_no,int int_no);
int WINAPI get_board_irq(int b_no);
int WINAPI get_intr_vector(int b_no);
int WINAPI enable_axis_intr(int ch);
int WINAPI disable_axis_intr(int ch);
int WINAPI get_axis_intr(int axis);
int WINAPI enable_board_irq(int b_no);
int WINAPI enable_timer_irq(void);
int WINAPI disable_board_irq(int b_no);
int WINAPI disable_timer_irq(void);
int WINAPI set_board_isr(int(*my_irq)());
int WINAPI set_timer_isr(int(*my_irq)());
void WINAPI init_8254(void);
void WINAPI enable_8254(int enable);
int WINAPI set_conspeed(int ch , double conspeed);
int WINAPI set_maxspeed(int ch , double speed);
double WINAPI get_conspeed(int ch);
int WINAPI set_vector_conspeed(double conspeed);
int WINAPI get_vector_profile(double *vec_vl , double *vec_vh ,double *vec_ad);
int WINAPI set_vector_profile(double vec_vl , double vec_vh ,double vec_ad);
int WINAPI set_ellipse_ratio(float ratio);
int WINAPI set_s_curve(int ch,int flag);
int WINAPI set_s_section(int ch,double rate1,double rate2);
int WINAPI set_profile(int ch , double vl , double vh , double ad);
int WINAPI get_profile(int ch , double *vl , double *vh , double *ad);
int WINAPI set_mprofile(int ch,double FL,double FH,double AD,double DD);
double WINAPI get_rate(int ch);
int WINAPI change_accel(int ch,long accel_rate);
int WINAPI change_decel(int ch,long decel_rate);
int WINAPI change_speed(int ch,double speed);
int WINAPI get_abs_pos(int ch,long *pos);
int WINAPI get_rel_pos(int ch,long *pos);
int WINAPI reset_pos(int ch);
void WINAPI set_encoder(int ch);
int WINAPI get_encoder(int ch,long *count);
int WINAPI wait_done(int ch);
int WINAPI wait_done2(int ch1,int ch2);
int WINAPI check_done(int ch);
int WINAPI check_done2(int ch1,int ch2);
void WINAPI decel_stop(int ch);
void WINAPI decel_stop2(int ch1,int ch2);
void WINAPI decel_stop3(int ch1,int ch2,int ch3);
void WINAPI sudden_stop(int ch);
void WINAPI sudden_stop2(int ch1,int ch2);
void WINAPI sudden_stop3(int ch1,int ch2,int ch3);
int WINAPI check_status(int ch);
int WINAPI con_hmove(int ch,int dir);
int WINAPI con_hmove2(int ch1,int dir1,int ch2,int dir2);
int WINAPI con_hmove3(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
int WINAPI fast_hmove(int ch,int dir);
int WINAPI fast_hmove2(int ch1,int dir1,int ch2,int dir2);
int WINAPI fast_hmove3(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
int WINAPI con_vmove(int ch,int dir);
int WINAPI con_vmove2(int ch1,int dir1,int ch2,int dir2);
int WINAPI con_vmove3(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
int WINAPI fast_vmove(int ch,int dir);
int WINAPI fast_vmove2(int ch1,int dir1,int ch2,int dir2);
int WINAPI fast_vmove3(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
int WINAPI con_pmove(int ch,long step);
int WINAPI con_pmove2(int ch1,long step1,int ch2,long step2);
int WINAPI con_pmove3(int ch1,long step1,int ch2,long step2,int ch3,long step3);
int WINAPI fast_pmove(int ch,long step);
int WINAPI fast_pmove2(int ch1,long step1,int ch2,long step2);
int WINAPI fast_pmove3(int ch1,long step1,int ch2,long step2,int ch3,long step3);
int WINAPI con_line2(int CHX,long pos1,int CHY, long pos2);
int WINAPI con_line3(int ch1,long pos1,int ch2,long pos2,int ch3,long pos3);
int WINAPI con_line4(long pos1,long pos2,long pos3,long pos4);
int WINAPI fast_line2(int ch1,long pos1,int ch2,long pos2);
int WINAPI fast_line3(int ch1,long pos1,int ch2,long pos2,int ch3,long pos3);
int WINAPI fast_line4(long pos1,long pos2,long pos3,long pos4);
int WINAPI arc_pmove2(int ch1,long step1,int ch2,long step2);
int WINAPI arc_center(int CHX,int CHY,long cen1,long cen2,double angle );
int WINAPI fast_arc_center(int CHX,int CHY,long cen1,long cen2,double angle );
int WINAPI arc_final(int ch1,int ch2,int dir,long fx,long fy,long r);
int WINAPI arc_fast(int x_ch,int y_ch,long cen1,long cen2,float angle);
int WINAPI repeat_pmove(int ch,long dist,int dwell_time);
int WINAPI helical_move(int CHX,int CHY,long cen1,long cen2,float angle,\
		 int CHZ,long pitch);
int WINAPI start_backlash(int axis);
int WINAPI end_backlash(int axis);
int WINAPI set_backlash(int axis,int blash);
int WINAPI DmcSetBatchProcessFlag(int Flag);
int WINAPI DmcResetError();
int WINAPI DmcGetError(int Index);
int WINAPI DmcGetLastError();

int WINAPI set_batch_flag(int flag);
int WINAPI reset_err();
int WINAPI get_err(int index);
int WINAPI get_last_err();
int WINAPI DmcSetMultCmdRampFlag(int Flag);
int WINAPI set_ramp_flag(int flag);
int WINAPI change_vmove(int ch,long LowSpeedDis,long HighSpeedDis,int dir);
long WINAPI get_cur_dir(int ch);
long WINAPI set_abs_pos(int ch,long pos);
int WINAPI set_dir(int ch,int dir);
int WINAPI check_alarm(int ch);
int WINAPI check_SD(int ch);
int WINAPI delay_time(long Time);
int WINAPI check_delay_status();
int WINAPI Outport(int portid,unsigned char byte);
int WINAPI Inport(int portid);
int WINAPI check_limit(int ch);
int WINAPI check_home(int ch);
int WINAPI check_batch_done();
int WINAPI set_iconspeed(int ch , double conspeed);
int WINAPI con_ipmove(int ch,long step);
int WINAPI check_buffer();
int WINAPI set_port(int ch,int state) ;
int WINAPI check_EncB(int ch) ;
int WINAPI check_EncZ(int ch) ;

int WINAPI checkin_byte(int cardno);
int WINAPI checkin_bit(int cardno,int bitno);
int WINAPI outport_byte(int cardno,int bytedata);
int WINAPI outport_bit(int cardno,int bitno,int status);
int WINAPI set_servo_clr(int ch,int status);
int WINAPI set_servo_on(int ch,int status);

int WINAPI set_home_logic(int ch,int logic);
void WINAPI set_arc_precision(double precision);

int WINAPI get_cmd_counter();
int WINAPI reset_cmd_counter();
int WINAPI get_lib_ver();

#ifdef __cplusplus
}
#endif

#endif