Aerotech系列文章（1）运动控制篇

#include 
#include 

// Main include file
#include "A3200.h"

#include 

// See the pre-build event to see the System Library dlls being copied to the output directory

#define NUM_LINES 10
#define LINE_SIZE 128

// This function will print whatever the latest error was
void PrintError();

int main(int argc, char **argv)
{
//1.generic example
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200AcknowledgeAll(handle, TASKID_01);
//    A3200Disconnect(handle);
//    DOUBLE result;
//    if(A3200Connect(&handle)) {

//        A3200MotionDisable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));

//        // Gets axis status and gets its first bit
//        A3200CommandExecute(handle, TASKID_Library, "AxisStatus(X, DATAITEM_AxisStatus) & 0x1", &result);
//        qDebug() << "Axis X status is： " << result;

//        A3200CommandExecute(handle, TASKID_Library, "AxisStatus(Y, DATAITEM_AxisStatus) & 0x1", &result);
//        qDebug() << "Axis Y status is： " << result;

//        A3200Disconnect(handle);

//    }

//2.Motion Examples
//2.1 enable
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200Disconnect(handle);

 //2.2 disaable
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionDisable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200Disconnect(handle);

//2.3 faultAck
//    A3200Handle handle;
//    A3200Connect(&handle);
//    bool bhas_fault = A3200MotionFaultAck(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    qDebug() << bhas_fault;
//    A3200Disconnect(handle);
//2.4 home
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01| AXISMASK_02));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01 | AXISMASK_02));
//    A3200Disconnect(handle);
//2.5 home conditional, this function cannot pass the test!!!!
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01| AXISMASK_02));
//    A3200MotionHomeConditional(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01| AXISMASK_02));
//    A3200Disconnect(handle);
//2.6 Linear
//    A3200Handle handle;
//    DOUBLE Distance[3];
//    Distance[0] = 10;
//    Distance[1] = 15;
//    Distance[2] = 15;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01 | AXISMASK_02));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01 | AXISMASK_02));
//    qDebug() << "home done";
//    Sleep(4000);
//    qDebug() << "begin linear";
//    A3200MotionLinear(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01 | AXISMASK_02), Distance);
//    qDebug() << "end linear";
//    A3200Disconnect(handle);
//2.7 LinearVelocity
//    A3200Handle handle;
//    DOUBLE Distance[2];
//    Distance[0] = 10;
//    Distance[1] = 15;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionLinearVelocity(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01), Distance, 100);
//    A3200Disconnect(handle);
//2.8 MotionRapid
//    A3200Handle handle;
//    DOUBLE Distance[2];
//    DOUBLE Speed[2];
//    Distance[0] = 10;
//    Distance[1] = 15;
//    Speed[0] = 100;
//    Speed[1] = 150;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    Sleep(3000);
//    A3200MotionRapid(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01), Distance, Speed);
//    A3200Disconnect(handle);
//2.9 CWAxisRadius
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionCWAxisRadius(handle, TASKID_01, AXISINDEX_00, 20, AXISINDEX_01, 20, 20, 10);
//    A3200Disconnect(handle);
 //2.10 CWAxiscenter
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionCWAxisCenter(handle, TASKID_01, AXISINDEX_00, 20, AXISINDEX_01, 20, 10, 10, 150);
//    A3200Disconnect(handle);
//2.11 CWAxisRadius
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionCCWAxisRadius(handle, TASKID_01, AXISINDEX_00, 20, AXISINDEX_01, 20, 20, 10);
//    A3200Disconnect(handle);
//2.12 CWAxiscenter
    A3200Handle handle;
    A3200Connect(&handle);
    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
    A3200MotionCCWAxisCenter(handle, TASKID_01, AXISINDEX_00, 20, AXISINDEX_01, 20, 10, 10, 150);
    A3200Disconnect(handle);

//2.13 slaveoffset
//    A3200Handle handle;
//    A3200Connect(&handle);
//    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00 | AXISMASK_01));
//    A3200MotionSlaveOffset(handle, TASKID_01, AXISINDEX_01, 10);
//    A3200MotionCCWAxisCenter(handle, TASKID_01, AXISINDEX_00, 20, AXISINDEX_01, 20, 10, 10, 150);
//    A3200Disconnect(handle);
//2.14 freerun
    A3200Handle handle;
    A3200Connect(&handle);
    A3200MotionEnable(handle,TASKID_01,(AXISMASK)(AXISMASK_00));
    A3200MotionHome(handle, TASKID_01, (AXISMASK)(AXISMASK_00));
    Sleep(2000);
    A3200MotionFreeRun(handle, TASKID_01, AXISINDEX_00, 15);
//    A3200Disconnect(handle);
//2.15 freerunstop
    Sleep(4000);
    A3200MotionFreeRunStop(handle, TASKID_01, AXISINDEX_00);
    A3200Disconnect(handle);

}

上面的代码是可以直接运行的，用qt创建控制台工程，

工程文件如下，

QT = core

CONFIG += c++17 cmdline

# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += \
        main.cpp

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../SDK/Lib64/ -lA3200C64
else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../SDK/Lib64/ -lA3200C64

INCLUDEPATH += $$PWD/../SDK/Include
INCLUDEPATH += $$PWD/../SDK/Bin64
INCLUDEPATH += $$PWD/../SDK/Bin64/ExamplesScript
DEPENDPATH += $$PWD/../SDK/Include

需要将Aerotech的头文件与库文件拷到当前工程目录下，创建SDK目录存放。