declarempc02.bas

步进电机控制VB程序 步进电机控制机器人小车的设计与实现

Attribute VB_Name = "DeclareMPC02"
Option Explicit

'****************************************************************************************************************************************************************************************
Declare Function auto_set Lib "mpc02" () As Long
Declare Function arc_center Lib "mpc02" (ByVal chx As Long, ByVal chy As Long, ByVal cenx As Long, ByVal ceny As Long, ByVal angle As Double) As Long
Declare Function fast_arc_center Lib "mpc02" (ByVal chx As Long, ByVal chy As Long, ByVal cenx As Long, ByVal ceny As Long, ByVal angle As Double) As Long
Declare Function arc_final Lib "mpc02" (ByVal chx As Long, ByVal chy As Long, ByVal dir As Long, ByVal fx As Long, ByVal fy As Long, ByVal radiu As Long) As Long
Declare Function change_speed Lib "mpc02" (ByVal ch As Long, ByVal speed As Double) As Long
Declare Function check_board Lib "mpc02" () As Long
Declare Function check_done Lib "mpc02" (ByVal ch As Long) As Long
Declare Function check_done2 Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long) As Long
Declare Function check_status Lib "mpc02" (ByVal ch As Long) As Long
Declare Function con_hmove Lib "mpc02" (ByVal ch As Long, ByVal dir As Long) As Long
Declare Function con_hmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long) As Long
Declare Function con_hmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long, ByVal Ch3 As Long, ByVal dir3 As Long) As Long
Declare Function con_line2 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long) As Long
Declare Function con_line3 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long, ByVal Ch3 As Long, ByVal pos3 As Long) As Long
Declare Function con_pmove Lib "mpc02" (ByVal ch As Long, ByVal pos As Long) As Long
Declare Function con_pmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long) As Long
Declare Function con_pmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long, ByVal Ch3 As Long, ByVal pos3 As Long) As Long
Declare Function con_vmove Lib "mpc02" (ByVal ch As Long, ByVal dir As Long) As Long
Declare Function con_vmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long) As Long
Declare Function con_vmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long, ByVal Ch3 As Long, ByVal dir3 As Long) As Long
Declare Function decel_stop Lib "mpc02" (ByVal ch As Long) As Long
Declare Function decel_stop2 Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long) As Long
Declare Function decel_stop3 Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long, ByVal Ch3 As Long) As Long
Declare Function end_backlash Lib "mpc02" (ByVal ch As Long) As Long
Declare Function fast_hmove Lib "mpc02" (ByVal ch As Long, ByVal dir As Long) As Long
Declare Function fast_hmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long) As Long
Declare Function fast_hmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long, ByVal Ch3 As Long, ByVal dir3 As Long) As Long
Declare Function fast_line2 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long) As Long
Declare Function fast_line3 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long, ByVal Ch3 As Long, ByVal pos3 As Long) As Long
Declare Function fast_pmove Lib "mpc02" (ByVal ch As Long, ByVal pos As Long) As Long
Declare Function fast_pmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long) As Long
Declare Function fast_pmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal pos1 As Long, ByVal Ch2 As Long, ByVal pos2 As Long, ByVal Ch3 As Long, ByVal pos3 As Long) As Long
Declare Function fast_vmove Lib "mpc02" (ByVal ch As Long, ByVal dir As Long) As Long
Declare Function fast_vmove2 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long) As Long
Declare Function fast_vmove3 Lib "mpc02" (ByVal Ch1 As Long, ByVal dir1 As Long, ByVal Ch2 As Long, ByVal dir2 As Long, ByVal Ch3 As Long, ByVal dir3 As Long) As Long
Declare Function get_abs_pos Lib "mpc02" (ByVal ch As Long, ByRef pos As Long) As Long
Declare Function get_encoder Lib "mpc02" (ByVal ch As Long, ByRef pos As Long) As Long
Declare Function get_board_base Lib "mpc02" (ByVal Board_No As Long) As Long
Declare Function get_conspeed Lib "mpc02" (ByVal ch As Long) As Double
Declare Function get_profile Lib "mpc02" (ByVal ch As Long, ByRef lowspeed As Double, ByRef highspeed As Double, ByRef addspeed As Double) As Long
Declare Function get_rate Lib "mpc02" (ByVal ch As Long) As Double
Declare Function get_rel_pos Lib "mpc02" (ByVal ch As Long, ByRef pos As Long) As Long
Declare Function get_vector_conspeed Lib "mpc02" () As Long
Declare Function get_vector_profile Lib "mpc02" (ByRef vec_vl As Double, ByRef vec_vh As Double, ByRef vec_ad As Double) As Long
Declare Function init_board Lib "mpc02" () As Long
Declare Function read_2byte Lib "mpc02" (ByVal ch As Long, ByVal reg As Long) As Long
Declare Function read_3byte Lib "mpc02" (ByVal ch As Long, ByVal reg As Long) As Long
Declare Function reset_pos Lib "mpc02" (ByVal ch As Long) As Long
Declare Function set_backlash Lib "mpc02" (ByVal ch As Long, ByVal backlash As Long) As Long
Declare Function set_board_num Lib "mpc02" (ByVal Num As Long) As Long
Declare Function set_axe Lib "mpc02" (ByVal Board_No As Long, ByVal Axe_Num As Long) As Long
Declare Function set_board_base Lib "mpc02" (ByVal Board_No As Long, ByVal Base As Long) As Long
Declare Function set_board_irq Lib "mpc02" (ByVal Board_No As Long, ByVal IRQ_No As Long) As Long
Declare Function set_conspeed Lib "mpc02" (ByVal ch As Long, ByVal lowspeed As Double) As Long
Declare Function set_max_speed Lib "mpc02" (ByVal ch As Long, ByVal maxspeed As Double) As Long
Declare Function set_maxspeed Lib "mpc02" (ByVal ch As Long, ByVal maxspeed As Double) As Long
Declare Function set_ellipse_ratio Lib "mpc02" (ByVal ratio As Single) As Long
Declare Function set_getpos_mode Lib "mpc02" (ByVal ch As Long, ByVal bit As Long) As Long
Declare Function set_encoder_mode Lib "mpc02" (ByVal ch As Long, ByVal mode As Long, ByVal multip As Long, ByVal count_unit As Long) As Long
Declare Function set_home_mode Lib "mpc02" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_mprofile Lib "mpc02" (ByVal ch As Long, ByVal lowspeed As Double, ByVal highspeed As Double, ByVal LineAccel As Double, ByVal decel As Double) As Long
Declare Function set_outmode Lib "mpc02" (ByVal ch As Long, ByVal mode As Long, ByVal bit As Long) As Long
Declare Function set_profile Lib "mpc02" (ByVal ch As Long, ByVal lowspeed As Double, ByVal highspeed As Double, ByVal LineAccel As Double) As Long
Declare Function set_vector_conspeed Lib "mpc02" (ByVal Conspeed As Double) As Long
Declare Function set_vector_profile Lib "mpc02" (ByVal lowspeed As Double, ByVal highspeed As Double, ByVal LineAccel As Double) As Long
Declare Function start_backlash Lib "mpc02" (ByVal ch As Long) As Long
Declare Function sudden_stop Lib "mpc02" (ByVal ch As Long) As Long
Declare Function sudden_stop2 Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long) As Long
Declare Function sudden_stop3 Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long, ByVal Ch3 As Long) As Long
Declare Function set_s_curve Lib "mpc02" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_s_section Lib "mpc02" (ByVal ch As Long, ByVal LineAccel_sec As Double, ByVal decel_sec As Double) As Long
Declare Function helical_move Lib "mpc02" (ByVal Ch1 As Long, ByVal Ch2 As Long, ByVal cen1 As Long, ByVal cen2 As Long, ByVal angle As Single, ByVal Ch3 As Long, ByVal pitch As Long) As Long
Declare Function get_board_num Lib "mpc02" () As Long
Declare Function get_max_axe Lib "mpc02" () As Long
Declare Function get_board_irq Lib "mpc02" (ByVal Board_No As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function DmcGetBoardInfo Lib "mpc02" (ByVal InfoNum As Long, ByRef infor As Any) As Long
Declare Function DmcGetDllInfo Lib "mpc02" (ByVal InfoNum As Long, ByRef infor As Any) As Long

Declare Function DmcSetBatchProcessFlag Lib "mpc02" (ByVal flag As Long) As Long
Declare Function DmcGetLastError Lib "mpc02" () As Long
Declare Function DmcGetError Lib "mpc02" (ByVal index As Long) As Long
Declare Function DmcResetError Lib "mpc02" () As Long

Declare Function set_batch_flag Lib "mpc02" (ByVal flag As Long) As Long
Declare Function get_last_err Lib "mpc02" () As Long
Declare Function get_err Lib "mpc02" (ByVal index As Long) As Long
Declare Function reset_err Lib "mpc02" () As Long
'********************************************************************************************************************************************************************************
Declare Function DmcSetMultCmdRampFlag Lib "mpc02" (ByVal flag As Long) As Long
Declare Function set_ramp_flag Lib "mpc02" (ByVal flag As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function change_vmove Lib "mpc02" (ByVal ch As Long, ByVal LowSpeedDis As Long, ByVal HighSpeedDis As Long, ByVal dir As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function get_cur_dir Lib "mpc02" (ByVal ch As Long) As Long
Declare Function set_abs_pos Lib "mpc02" (ByVal ch As Long, ByVal pos As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function set_dir Lib "mpc02" (ByVal ch As Long, ByVal dir As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function check_alarm Lib "mpc02" (ByVal ch As Long) As Long
Declare Function check_SD Lib "mpc02" (ByVal ch As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function delay_time Lib "mpc02" (ByVal Times As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function check_delay_status Lib "mpc02" () As Long
'********************************************************************************************************************************************************************************
Declare Function check_home Lib "mpc02" (ByVal ch As Long) As Long
Declare Function check_limit Lib "mpc02" (ByVal ch As Long) As Long
Declare Function Outport Lib "mpc02" (ByVal PortID As Long, ByVal OutPortData As Byte) As Long
Declare Function Inport Lib "mpc02" (ByVal PortID As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function check_batch_done Lib "mpc02" () As Long
'********************************************************************************************************************************************************************************
Declare Function con_ipmove Lib "mpc02" (ByVal ch As Long, ByVal pos As Long) As Long
Declare Function set_iconspeed Lib "mpc02" (ByVal ch As Long, ByVal lowspeed As Double) As Long
'********************************************************************************************************************************************************************************
Declare Function check_buffer Lib "mpc02" () As Long
'********************************************************************************************************************************************************************************
Declare Function check_EncB Lib "mpc02" (ByVal ch As Long) As Long
Declare Function check_EncZ Lib "mpc02" (ByVal ch As Long) As Long
Declare Function set_port Lib "mpc02" (ByVal ch As Long, ByVal state As Long) As Long
'********************************************************************************************************************************************************************************
Declare Function set_servo_on Lib "mpc02" (ByVal ch As Long, ByVal state As Long) As Long
Declare Function set_servo_clr Lib "mpc02" (ByVal ch As Long, ByVal state As Long) As Long
Declare Function checkin_byte Lib "mpc02" (ByVal boardno As Long) As Long
Declare Function checkin_bit Lib "mpc02" (ByVal boardno As Long, ByVal bitno As Long) As Long
Declare Function outport_byte Lib "mpc02" (ByVal boardno As Long, ByVal bytedata As Long) As Long
Declare Function outport_bit Lib "mpc02" (ByVal boardno As Long, ByVal bitno As Long, ByVal bitstatus As Long) As Long
Declare Function check_IC Lib "mpc02" () As Long
'********************************************************************************************************************************************************************************
Declare Function set_home_logic Lib "mpc02" (ByVal ch As Long, ByVal logic As Long) As Long
Declare Function set_arc_precision Lib "mpc02" (ByVal precision As Double) As Long
'********************************************************************************************************************************************************************************
Declare Function get_cmd_counter Lib "mpc02" () As Long
Declare Function reset_cmd_counter Lib "mpc02" () As Long
Declare Function get_lib_ver Lib "mpc02" () As Long