基本信息
源码名称：电机控制平台示例(c++源码)
源码大小：7.20M
文件格式：.zip
开发语言：C/C++
更新时间：2020-04-06
友情提示：（无需注册或充值，赞助后即可获取资源下载链接）
嘿，亲！知识可是无价之宝呢，但咱这精心整理的资料也耗费了不少心血呀。小小地破费一下，绝对物超所值哦！如有下载和支付问题，请联系我们QQ(微信同号)：813200300
本次赞助数额为： 2 元×
微信扫码支付：2 元
×
请留下您的邮箱，我们将在2小时内将文件发到您的邮箱
源码介绍
// 电机控制平台Dlg.cpp : implementation file
//
#include "stdafx.h"
#include "电机控制平台.h"
#include "电机控制平台Dlg.h"
#include "ges.h"
#include "windows.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
class CAboutDlg : public CDialog
{
public:
CAboutDlg();
// Dialog Data
//{{AFX_DATA(CAboutDlg)
enum { IDD = IDD_ABOUTBOX };
//}}AFX_DATA
// ClassWizard generated virtual function overrides
//{{AFX_VIRTUAL(CAboutDlg)
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV support
//}}AFX_VIRTUAL
// Implementation
protected:
//{{AFX_MSG(CAboutDlg)
//}}AFX_MSG
DECLARE_MESSAGE_MAP()
};
CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
//{{AFX_DATA_INIT(CAboutDlg)
//}}AFX_DATA_INIT
}
void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CAboutDlg)
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
//{{AFX_MSG_MAP(CAboutDlg)
// No message handlers
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CMyDlg dialog
CMyDlg::CMyDlg(CWnd* pParent /*=NULL*/)
: CDialog(CMyDlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CMyDlg)
m_kd = 10;
m_ki = 10;
m_Vzhuzhou = 2000;
m_kp = 20;
m_Bisa = 0;
m_MaxVel = 500;
m_StartVel =1;
m_StopAcc = 6;
m_WorkVel = 15;
m_WorkAcc = 1;
m_X = 10000;
m_Y = 20000;
m_Z = 0.0;
m_yuanxinX = 0.0;
m_yuanxinY = 0.0;
m_angle = 360;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
void CMyDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CMyDlg)
DDX_Text(pDX, IDC_EDIT3, m_kd);
DDX_Text(pDX, IDC_EDIT2, m_ki);
DDX_Text(pDX, IDC_EDIT4, m_Vzhuzhou);
DDX_Text(pDX, IDC_EDIT1, m_kp);
DDX_Text(pDX, IDC_EDIT5, m_Bisa);
DDX_Text(pDX, IDC_EDIT8, m_MaxVel);
DDX_Text(pDX, IDC_EDIT6, m_StartVel);
DDX_Text(pDX, IDC_EDIT9, m_StopAcc);
DDX_Text(pDX, IDC_EDIT7, m_WorkVel);
DDX_Text(pDX, IDC_EDIT10, m_WorkAcc);
DDX_Text(pDX, IDC_EDIT11, m_X);
DDX_Text(pDX, IDC_EDIT12, m_Y);
DDX_Text(pDX, IDC_EDIT13, m_Z);
DDX_Text(pDX, IDC_EDIT14, m_yuanxinX);
DDX_Text(pDX, IDC_EDIT15, m_yuanxinY);
DDX_Text(pDX, IDC_EDIT16, m_angle);
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CMyDlg, CDialog)
//{{AFX_MSG_MAP(CMyDlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_BUTTON1, OnButton1)
ON_BN_CLICKED(IDC_BUTTON2, OnCloseCard)
ON_BN_CLICKED(IDC_BUTTON3, Onstart1)
ON_BN_CLICKED(IDC_BUTTON4, OnClose1)
ON_BN_CLICKED(IDC_BUTTON5, OnButton5)
ON_WM_TIMER()
ON_BN_CLICKED(IDC_BUTTON6, OnArcXY)
ON_BN_CLICKED(IDC_BUTTON7, OnButton7)
ON_BN_CLICKED(IDC_BUTTON8, OnButton8)
ON_BN_CLICKED(IDC_BUTTON9, OnButton9)
ON_BN_CLICKED(IDC_BUTTON10, OnButton10)
ON_BN_CLICKED(IDC_BUTTON11, OnButton11)
ON_BN_CLICKED(IDC_BUTTON12, OnButton12)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CMyDlg message handlers
BOOL CMyDlg::OnInitDialog()
{
CDialog::OnInitDialog();
// Add "About..." menu item to system menu.
// IDM_ABOUTBOX must be in the system command range.
ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
ASSERT(IDM_ABOUTBOX < 0xF000);
CMenu* pSysMenu = GetSystemMenu(FALSE);
if (pSysMenu != NULL)
{
CString strAboutMenu;
strAboutMenu.LoadString(IDS_ABOUTBOX);
if (!strAboutMenu.IsEmpty())
{
pSysMenu->AppendMenu(MF_SEPARATOR);
pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
}
}
// Set the icon for this dialog. The framework does this automatically
// when the application's main window is not a dialog
SetIcon(m_hIcon, TRUE); // Set big icon
SetIcon(m_hIcon, FALSE); // Set small icon
// TODO: Add extra initialization here
return TRUE; // return TRUE unless you set the focus to a control
}
void CMyDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialog::OnSysCommand(nID, lParam);
}
}
// If you add a minimize button to your dialog, you will need the code below
// to draw the icon. For MFC applications using the document/view model,
// this is automatically done for you by the framework.
void CMyDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting
SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
// Center icon in client rectangle
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon 1) / 2;
int y = (rect.Height() - cyIcon 1) / 2;
// Draw the icon
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialog::OnPaint();
}
}
unsigned short limit,limit1;
// The system calls this to obtain the cursor to display while the user drags
// the minimized window.
HCURSOR CMyDlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}
short rtn;
void error(short r)
{
switch(r)
{
case -1:
AfxMessageBox("communication error");break;
case 0:
break;
case 1:
AfxMessageBox("command error");break;
case 2:
AfxMessageBox("radius or chord is 0");break;
case 3:
AfxMessageBox("length is 0 or overflow");break;
case 4:
AfxMessageBox("velocity or acceleration is less than 0");break;
case 5:
AfxMessageBox("chord is greater than diameter");break;
case 7:
AfxMessageBox("parameter error");break;
default:
AfxMessageBox("Error Code = %d ",rtn);break;
}
}
void CMyDlg::OnButton1()
{
// TODO: Add your control notification handler code here
UpdateData(true);
rtn=GT_Open(); error(rtn);
rtn=GT_Reset(); error(rtn);
rtn=GT_HomeSns(0); error(rtn);//各轴原点下降沿触发
//初始化伺服电机
rtn=GT_SetKp(2,m_kp); //设置PID
rtn=GT_SetKi(2,m_ki);
rtn=GT_SetKd(2,m_kd);
error(rtn);
rtn=GT_Update(2);
error(rtn);
rtn=GT_EncOff(2);error(rtn);
rtn=GT_EncOn(2);error(rtn);
rtn=GT_EncSns(1);error(rtn); //设置旋转编码器
//GT_AlarmOff(3);
rtn=GT_SetMtrBias(2,m_Bisa);//静差补偿
rtn=GT_Update(2);
error(rtn);
rtn=GT_AxisOn(2);
error(rtn);
rtn=GT_CtrlMode(1,1); error(rtn);
rtn=GT_StepDir(1);error(rtn);
rtn=GT_AxisOn(2);error(rtn);
rtn=GT_AxisOn(1);error(rtn);
UpdateData(true);
rtn=GT_SetStrtVel(m_StartVel);//启动速度
error(rtn);
rtn=GT_SetMaxVel(m_MaxVel);//最大速度
error(rtn);
rtn=GT_SetStpAcc(m_StopAcc);//急停加速度
error(rtn);
rtn=GT_SetSynVel(m_WorkVel);
error(rtn);
rtn=GT_SetSynAcc(m_WorkAcc);
error(rtn);
Sleep(20);
}
void CMyDlg::OnCloseCard()
{
// TODO: Add your control notification handler code here
GT_AxisOff(1);
GT_AxisOff(2);
rtn = GT_Close(); error(rtn); //关闭运动控制器
}
void CMyDlg::Onstart1()
{
// TODO: Add your control notification handler code here
UpdateData(true);
GT_LmtsOn(4);
rtn=GT_SetSpindleVel(m_Vzhuzhou);
SetTimer(1,1,NULL);
error(rtn);
}
void CMyDlg::OnClose1()
{
// TODO: Add your control notification handler code here
rtn=GT_CloseSpindle();
error(rtn);
}
void CMyDlg::OnButton5()
{
// TODO: Add your control notification handler code here
UpdateData(TRUE);
GT_LnXY(m_X,m_Y);
error(rtn);
}
void CMyDlg::OnTimer(UINT nIDEvent)
{
// TODO: Add your message handler code here and/or call default
CDialog::OnTimer(nIDEvent);
switch(nIDEvent)
{
case 1:
GT_GetLmtSwt(&limit);
if(limit&0x80||limit&0x40)
GT_CloseSpindle();
KillTimer(1);
break;
case 2:
GT_GetLmtSwt(&limit1);
if (limit1&0x1||limit1&0x2||limit1&0x4||limit1&0x8)
{
rtn=GT_EStpMtn();error(rtn);
}
}
}
void CMyDlg::OnArcXY()//圆弧插补
{
// TODO: Add your control notification handler code here
UpdateData(TRUE);
rtn=GT_ArcXY(m_yuanxinX,m_yuanxinY,m_angle);
error(rtn);
}
void CMyDlg::OnButton7() //设置运动轨迹
{
// TODO: Add your control notification handler code here
rtn=GT_StrtList();error(rtn);
rtn=GT_MvXY(0,0,m_WorkVel,m_WorkAcc);error(rtn);
}
void CMyDlg::OnButton8() //完成设置运动轨迹
{
// TODO: Add your control notification handler code here
rtn=GT_EndList();error(rtn);
}
void CMyDlg::OnButton9() //开始连续轨迹运动
{
// TODO: Add your control notification handler code here
rtn=GT_StrtMtn();error(rtn);
SetTimer(2,1,NULL);
}
void CMyDlg::OnButton10() //平滑停止
{
// TODO: Add your control notification handler code here
rtn=GT_StpMtn();error(rtn);
}
void CMyDlg::OnButton11() //急停
{
// TODO: Add your control notification handler code here
rtn=GT_EStpMtn();error(rtn);
}
void CMyDlg::OnButton12() //继续
{
// TODO: Add your control notification handler code here
rtn=GT_RestoreMtn();error(rtn);
}