controlmotor.java

采用PCI1020芯片控制三个电机

//	设置反方向软件限位 60
	public void SetMDirSoftwareLimit(int axis, int LP_EP, int data) {
		try {
			FuncPtr SetMDSL = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_SetMDirSoftwareLimit");
			SetMDSL.invoke_I(hDevice, axis, LP_EP, data,
					ReturnFlags.CHECK_FALSE);
			SetMDSL.close();
		} catch (COMException e) {

		}

	}
//清除软件限位 61
	public void ClearSoftwareLimit(int axis) {

		try {
			FuncPtr ClearSL = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_ClearSoftwareLimit");
			// and then follows any [out] values
			// int outVal = leis.readInt();

			ClearSL.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);

			ClearSL.close();

		} catch (COMException e) {
			System.out.println("ClearSoftwareLimit false!");

		}

	}

// 减速停止函数 71
	public void DecStop(int axis) {
		try {
			FuncPtr DecS = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_DecStop");
			// and then follows any [out] values
			// int outVal = leis.readInt();
			DecS.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			DecS.close();
		} catch (COMException e) {
			System.out.println("DecStop false is in" + axis + "AXIS");
		}
	}

// 立即停止函数 72
	public void InstStop(int axis) {
		try {
			FuncPtr InS = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_InstStop");
			// and then follows any [out] values
			// int outVal = leis.readInt();

			InS.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			InS.close();
		} catch (COMException e) {
			System.out.println("InstStop false is in" + axis + "AXIS");
		}
	}

// 读当前速度 实际速度=读出速度值*倍率 78
	public static int ReadCV(int axis) {
		try {
			FuncPtr ReadCV = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_ReadCV");
			// and then follows any [out] values
			// int outVal = leis.readInt();

			int ResultCV = ReadCV.invoke_I(hDevice, axis,
					ReturnFlags.CHECK_NONE);

			ReadCV.close();
			return ResultCV;
		} catch (COMException e) {
			System.out.println("Read CV false");
			return 0;
		}
	}

// 读当前加速度 实际加速度=读出的加速度的值*125*倍率 79
	public static int ReadCA(int axis) {
		try {
			FuncPtr ReadCA = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_ReadCV");
			// and then follows any [out] values
			// int outVal = leis.readInt();

			int ResultCA = ReadCA.invoke_I(hDevice, axis,
					ReturnFlags.CHECK_NONE);

			ReadCA.close();
			return ResultCA;
		} catch (COMException e) {
			System.out.println("Read CA false");
			return 0;
		}
	}
//获得RR0的位状态 83
	protected static void GetRR0Status(int[] pa_rr0) {
		//int[] PA_RR0 = pa_rr0; // 15个成员
		try {
			FuncPtr Getrr0 = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_GetRR0Status");
			NakedByteStream nbs = new NakedByteStream();
			LittleEndianOutputStream leos = new LittleEndianOutputStream(nbs);
			leos.writeInt(hDevice);
			for (int i = 0; i < pa_rr0.length; i++) {
				leos.writeInt(pa_rr0[i]);
			}
			// for (int i1 = 0; i1 < lcdata.length; i1++) {
			// leos.writeInt(lcdata[i1]);
			// }
			// leos1.wr(pci_papa_datalist);

			// byte[]result=Getrr3.invoke_S(hDevice, 68,
			// ReturnFlags.CHECK_NONE);
			byte[] result = Getrr0.invoke("IP64:I:L4n64", 68, nbs, null,// 多接线实验
					ReturnFlags.CHECK_FALSE);

			// byte[] result = Getrr3.invoke("IP64:I:n64", 68, nbs, null,//多接线实验
			// ReturnFlags.CHECK_NONE);
			LittleEndianInputStream leis1 = new LittleEndianInputStream(
					new ByteArrayInputStream(result));
			// int rr = leis1.readInt();
			leis1.readInt();
			for (int i = 0; i < pa_rr0.length; i++)
				pa_rr0[i] = leis1.readInt();

			// int rr=0;
			// rr++;
			// 添加启动程序
			// FuncPtr StartLvdv = new
			// FuncPtr("C:\\windows\\system\\PCI1020.DLL",
			// "PCI1020_StartLVDV");
			// StartLvdv.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			// leis1.close();
			leos.close();
			nbs.close();
			Getrr0.close();
			// StartLvdv.close();
			// return 1;
		} catch (COMException e) {
			System.out.println("FuncPtr is wrong!");
			// return 0;
		} catch (IOException e) {
			System.out.println("NakedByteStream is wrong!");
			// return 0;
		}
	}
	
//读RR1状态  外部限位驱动 84
	protected static void GetRR1Status(int axis,int[] pa_rr1) {
		//int[] PA_RR3 = pa_rr3; // 16个成员
		try {
			FuncPtr Getrr1 = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_GetRR1Status");
			NakedByteStream nbs = new NakedByteStream();
			LittleEndianOutputStream leos = new LittleEndianOutputStream(nbs);
			leos.writeInt(hDevice);
			leos.writeInt(axis);
			for (int i = 0; i < pa_rr1.length; i++) {
				leos.writeInt(pa_rr1[i]);
			}
			// for (int i1 = 0; i1 < lcdata.length; i1++) {
			// leos.writeInt(lcdata[i1]);
			// }
			// leos1.wr(pci_papa_datalist);

			// byte[]result=Getrr3.invoke_S(hDevice, 68,
			// ReturnFlags.CHECK_NONE);
			byte[] result = Getrr1.invoke("IIP64:I:L8n64", 72, nbs, null,// 多接线实验
					ReturnFlags.CHECK_FALSE);

			// byte[] result = Getrr3.invoke("IP64:I:n64", 68, nbs, null,//多接线实验
			// ReturnFlags.CHECK_NONE);
			LittleEndianInputStream leis1 = new LittleEndianInputStream(
					new ByteArrayInputStream(result));
			// int rr = leis1.readInt();
			leis1.readInt();
			for (int i = 0; i < pa_rr1.length; i++)
				pa_rr1[i] = leis1.readInt();

			// int rr=0;
			// rr++;
			// 添加启动程序
			// FuncPtr StartLvdv = new
			// FuncPtr("C:\\windows\\system\\PCI1020.DLL",
			// "PCI1020_StartLVDV");
			// StartLvdv.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			// leis1.close();
			leos.close();
			nbs.close();
			Getrr1.close();
			// StartLvdv.close();
			// return 1;
		} catch (COMException e) {
			System.out.println("FuncPtr is wrong!");
			// return 0;
		} catch (IOException e) {
			System.out.println("NakedByteStream is wrong!");
			// return 0;
		}
	}	
	 
// 读RR3的状态 绝对光码盘 86
	protected static void GetRR3Status(int[] pa_rr3) {
	//	int[] PA_RR3 = pa_rr3; // 16个成员
		try {
			FuncPtr Getrr3 = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_GetRR3Status");
			NakedByteStream nbs = new NakedByteStream();
			LittleEndianOutputStream leos = new LittleEndianOutputStream(nbs);
			leos.writeInt(hDevice);
			for (int i = 0; i < pa_rr3.length; i++) {
				leos.writeInt(pa_rr3[i]);
			}
			// for (int i1 = 0; i1 < lcdata.length; i1++) {
			// leos.writeInt(lcdata[i1]);
			// }
			// leos1.wr(pci_papa_datalist);

			// byte[]result=Getrr3.invoke_S(hDevice, 68,
			// ReturnFlags.CHECK_NONE);
			byte[] result = Getrr3.invoke("IP64:I:L4n64", 68, nbs, null,// 多接线实验
					ReturnFlags.CHECK_FALSE);

			// byte[] result = Getrr3.invoke("IP64:I:n64", 68, nbs, null,//多接线实验
			// ReturnFlags.CHECK_NONE);
			LittleEndianInputStream leis1 = new LittleEndianInputStream(
					new ByteArrayInputStream(result));
			// int rr = leis1.readInt();
			leis1.readInt();
			for (int i = 0; i < pa_rr3.length; i++)
				pa_rr3[i] = leis1.readInt();

			// int rr=0;
			// rr++;
			// 添加启动程序
			// FuncPtr StartLvdv = new
			// FuncPtr("C:\\windows\\system\\PCI1020.DLL",
			// "PCI1020_StartLVDV");
			// StartLvdv.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			// leis1.close();
			leos.close();
			nbs.close();
			Getrr3.close();
			// StartLvdv.close();
			// return 1;
		} catch (COMException e) {
			System.out.println("FuncPtr is wrong!");
			// return 0;
		} catch (IOException e) {
			System.out.println("NakedByteStream is wrong!");
			// return 0;
		}
	}

// 读RR4的状态 绝对光码盘 87
	protected static void GetRR4Status(int[] pa_rr4) {
	//	int[] PA_RR4 = pa_rr4; // 16个成员
		try {
			FuncPtr Getrr4 = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_GetRR4Status");
			NakedByteStream nbs = new NakedByteStream();
			LittleEndianOutputStream leos = new LittleEndianOutputStream(nbs);
			leos.writeInt(hDevice);
			for (int i = 0; i < pa_rr4.length; i++) {
				leos.writeInt(pa_rr4[i]);
			}
			// for (int i1 = 0; i1 < lcdata.length; i1++) {
			// leos.writeInt(lcdata[i1]);
			// }
			// leos1.wr(pci_papa_datalist);

			// byte[]result=Getrr3.invoke_S(hDevice, 68,
			// ReturnFlags.CHECK_NONE);
			byte[] result = Getrr4.invoke("IP64:I:L4n64", 68, nbs, null,// 多接线实验
					ReturnFlags.CHECK_FALSE);

			// byte[] result = Getrr3.invoke("IP64:I:n64", 68, nbs, null,//多接线实验
			// ReturnFlags.CHECK_NONE);
			LittleEndianInputStream leis1 = new LittleEndianInputStream(
					new ByteArrayInputStream(result));
			// int rr = leis1.readInt();
			leis1.readInt();
			for (int i = 0; i < pa_rr4.length; i++)
				pa_rr4[i] = leis1.readInt();

			// int rr=0;
			// rr++;
			// 添加启动程序
			// FuncPtr StartLvdv = new
			// FuncPtr("C:\\windows\\system\\PCI1020.DLL",
			// "PCI1020_StartLVDV");
			// StartLvdv.invoke_I(hDevice, axis, ReturnFlags.CHECK_FALSE);
			// leis1.close();
			leos.close();
			nbs.close();
			Getrr4.close();
			// StartLvdv.close();
			// return 1;
		} catch (COMException e) {
			System.out.println("FuncPtr is wrong!");
			// return 0;
		} catch (IOException e) {
			System.out.println("NakedByteStream is wrong!");
			// return 0;
		}
	}

//设置指定轴加减速计数器偏移量 -32768~32767 18
	public static void SetAccofst(int axis, int data) { 
		try {
			FuncPtr SA = new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
					"PCI1020_SetAccofst");
			// create a NakedByteStream for the serialization of Java variables
			NakedByteStream nbs = new NakedByteStream();

			// wrap it in a LittleEndianOutputStream
			LittleEndianOutputStream leos = new LittleEndianOutputStream(nbs);

			// and then write the Java arguments
			leos.writeInt(hDevice);
			leos.writeInt(axis);
			leos.writeInt(data);

			// call the generic invoke, with the NakedByteStream
			// and parameters describing how to deserialize the
			// NakedByteStream byte-array on the native side
			SA.invoke("III:I:", 12, nbs, null, ReturnFlags.CHECK_FALSE);
			// close object
			leos.close();
			nbs.close();
			SA.close();
		} catch (COMException e) {
		} catch (IOException e) {
		}
		// slp.close();
	}
//Delay（1）相当于1ms，延时函数,new080906
	public static void Delay(int millisecond){
		int count=millisecond*2;
		try{
			Thread.sleep(count);
		}catch(InterruptedException ie){						
		}		
	}
	
//	Delays（1）相当于1s，延时函数,new080906
	public static void Delays(int second){
		int count=second*2000;
		try{
			Thread.sleep(count);
		}catch(InterruptedException ie){						
		}		
	}
}