motor.java

采用PCI1020芯片控制三个电机

package cn.com.yuzhiqiang.pcimotor;

//import cn.com.yuzhiqiang.swt.*;//

//import org.eclipse.swt.SWT;//
//import org.eclipse.swt.widgets.Display;//
//import org.eclipse.swt.widgets.Label;//
//import org.eclipse.swt.widgets.Shell;//

                                                                                                                                                                                                                                                                                                                                                                                                                                                                     
public class motor {

	/**
	 * @param args
	 */

	public static final int XAXIS = 0;

	public static final int YAXIS = 1;

	public static final int ZAXIS = 2;

	public static final int UAXIS = 3;

	public static final int ALLAXIS = 4;

	public static final int DV = 0; // 定长驱动

	public static final int LV = 1; // 连续驱动

	public static final int CWCCW = 0; // CW/CCW方式

	public static final int CPDIR = 1; // CP/DIR方式

	public static final int MDIRECTION = 0;// 反方向

	public static final int PDIRECTION = 1;// 正方向

	public static final int LINE = 0; // 直线运动

	public static final int CURVE = 1; // S曲线运动

	public static final int LOGIC = 0; // 逻辑计数器

	public static final int FACT = 1; // 实位计数器

	public static final int SUDENSTOP = 0; // 立即停止

	public static final int DECSTOP = 1; // 减速停止

	public static final int AUTO = 0; // 自动减速

	public static final int HAND = 1; // 手动减速
	
	public static int[]PA_RR0=new int[16];
	//public static int[] PA_DataList = new int[7];// 公共参数数组
	//public static int[] PA_LCData = new int[7]; //直线和S曲线参数数组
	public static int[] PA_RR3 = new int[16];
	public static int[] PA_RR1 = new int[16];
	public static int[] PA_Int = new int[16];//new080904
	public static int[] PA_RR5 = new int[16];//new080904


	// static MCShow mcshow;
	
	/*
	 * 公共参数数组成员 
	 * LONG Multiple; 倍率 (1~500) 
	 * LONG StartSpeed; 初始速度(1~8000) 
	 * LONG DriveSpeed; 驱动速度(1~8000) 
	 * LONG Acceleration; 加速度(125~1000000) 
	 * LONG Deceleration; 减速度(125~1000000) 
	 * LONG AccIncRate; 加速度变化率(954~62500000) 
	 * LONG DecIncRate; 减速度变化率(954~62500000)
	 * 
	 * 直线和S曲线参数数组成员 
	 * LONG AxisNum; 轴号 (X轴 | Y轴 | X、Y轴) 
	 * LONG LV_DV; 驱动方式 (连续 | 定长 )
	 * LONG DecMode; 减速方式 (自动减速 | 手动减速) 
	 * LONG PulseMode; 脉冲方式 (CW/CCW方式 | CP/DIR方式) 
	 * LONG Line_Curve; 运动方式 (直线 | 曲线) 
	 * LONG Direction; 运动方向 (正方向 | 反方向) 
	 * LONG nPulseNum; 定量输出脉冲数(0~268435455)
	 */
	// public int[] PA_DataList=new int[7];//公共参数数组
	// public int[] PA_LCData=new int[7]; //直线和S曲线参数数组
	@SuppressWarnings({ "static-access", "static-access", "static-access" })
	public static void main(String[] args) {     
		// TODO 自动生成方法存根
		
		//调试用 在各个类中设为私有成员
		int[] PA_DataList = new int[7];// 公共参数数组
		int[] PA_LCData = new int[7]; // 直线和S曲线参数数组
		
		

	//  int[] PA_RR3 = new int[16];//
	//  int[] PA_RR1 = new int[16];//
		
		int command=0;//0,steeringwheel;1,gun;2,brake.//new080906
		
	    PciCreat.gethD();//主程序中用//
	    PciCreat.gethE();
	    PciCreat pct=new PciCreat();//
	//  int hDevice=pct.gethD();//
	
	//----------------------------------------------------------------------------    
		int hDevice=pct.hDevice;//new0808171710
		int hEvent=pct.hEvent;
		double angle=100;
		int []node0={30,10};//待定
		long ep;
	//----------------------------------------------------------------------------
		
		//调试0		
	    ControlMotor CM = new ControlMotor();//

		//每个轴在自己的函数中赋值 保护成员 下面为调试用
		PA_DataList[0] = 1;
		PA_DataList[1] = 5;
		PA_DataList[2] = 3000;
		PA_DataList[3] = 1000;
		PA_DataList[4] = 1000;
		PA_DataList[5] = 1000;
		PA_DataList[6] = 20000;
		PA_LCData[0] = XAXIS;
		PA_LCData[1] = LV;
		PA_LCData[2] = AUTO;
		PA_LCData[3] = CPDIR;
		PA_LCData[4] = LINE;
		PA_LCData[5] = PDIRECTION;
		PA_LCData[6] = 20000;//200细分180度 8细分90度   2000;
		
		ControlMotor.SetAccofst(XAXIS, 0);//三个轴偏移值均为0 主程序中应该有属于初始化部分
		ControlMotor.SetAccofst(YAXIS, 0);
		ControlMotor.SetAccofst(ZAXIS, 0);
		
		
    	ShowDataFrame frame = new ShowDataFrame();
		frame.pack();
		frame.setVisible(true);
		//调试用
		int readangle;//
		SteeringWheelClass stw=new SteeringWheelClass();//
		GunClass  gun=new GunClass();
		BrakeClass brake=new BrakeClass();
		
//		CM.SetCOMPP(XAXIS, LOGIC, 5000);//可以软件限位//
//	    int[]PA_RR0=new int[16];//
//		ControlMotor.GetRR0Status(PA_RR0);//
//		CM.SetLMTEnable(XAXIS, SUDENSTOP);//
//		ControlMotor.GetRR1Status(XAXIS,PA_RR1);//
//		PA_RR1[13]++;//根据负方向限制信号驱动停止时，为1.
	
		//test080907
	//=================================================================================
		if(command==0){//steeringwheel 		
//			此段循环代码：1、实现依靠光码盘的限位功能。2、看在定速情况下改变drvspeed时，电机的加减速状况。
		//	PA_DataList[2]=2000;
		//	int i=0;
				PA_DataList[2]=3000;
				PA_LCData[5] = PDIRECTION;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]-=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]-=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]-=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);	
				CM.InstStop(XAXIS);

				PA_DataList[2]=500;
				PA_LCData[5] = MDIRECTION;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]+=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]+=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);
				PA_DataList[2]+=500;
				CM.InitLVDV(PA_DataList,PA_LCData);
				CM.StartLVDV(XAXIS);
				CM.Delays(10);	
				CM.InstStop(XAXIS);
				
								
				stw.Rotate(90,motor.PDIRECTION,1);
				stw.Rotate(90,motor.MDIRECTION,1);

				stw.Rotate(360,motor.PDIRECTION,1);
				stw.Rotate(360,motor.MDIRECTION,1);					
			
		}
		if(command==1){//gun
			gun.Rotate(30,1);//Rotate(int percent, int urgency)
		}
		if(command==2){//brake
			brake.Rotate(30, 1);//Rotate(int percent, int urgency)
		}
		if(command==3){//instantbrake
			brake.InstantBrake();//
		}
		if(command==4){//return0
			stw.ReturnRefAngle(0);// 返回参考点,public static boolean ReturnRefAngle(int r)
			gun.ReleaseGun();
			brake.ReleaseBrake();
		}			
	//=================================================================================
	}

}