eyou_planet_sdk  1.0
eyou_planet_sdk library
eu_planet.h
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1 #ifndef PLANET_EU_PLANET_H
2 #define PLANET_EU_PLANET_H
3 
4 #ifdef __cplusplus
5 extern "C"
6 {
7 #endif
8 
9 #ifndef EXTERNFUNC
10 #ifdef WIN32
11 #define EXTERNFUNC __declspec(dllexport)
12 #else
13 #define EXTERNFUNC
14 #endif
15 #endif
16 
17 #define PLANET_SUCCESS (0)
18 #define PLANET_FAILED_ERRORDEVIECTYPE (1)
19 #define PLANET_FAILED_DEVICEDISABLED (2)
20 #define PLANET_FAILED_SETFAILED (3)
21 #define PLANET_FAILED_MAXBYTESLIMIT (4)
22 #define PLANET_FAILED_NORECEIVE (5)
23 #define PLANET_FAILED_UNKNOW (100)
29  {
32  };
33 
38  {
40  planet_Baudrate_1000 = 1000
41  };
42 
49  typedef void (*planet_SendCallFunc)(unsigned id, const unsigned char *data, unsigned size);
50 
57  typedef void (*planet_ReceiveCallFunc)(unsigned id, const unsigned char *data, unsigned size);
58 
65 
72 
81  EXTERNFUNC int planet_initDLL(planet_DeviceType devType, unsigned devIndex, unsigned channel, planet_Baudrate baudrate);
82 
88  EXTERNFUNC int planet_freeDLL(unsigned devIndex);
89 
98  EXTERNFUNC int planet_getHeartbeat(unsigned devIndex, unsigned id, bool *heartbeat, unsigned timeout = 100);
99 
109  EXTERNFUNC int planet_getMotorType(unsigned devIndex, unsigned id, unsigned *type, unsigned timeout = 100);
110 
119  EXTERNFUNC int planet_getSerialNumber(unsigned devIndex, unsigned id, unsigned *serialNum, unsigned timeout = 100);
120 
129  EXTERNFUNC int planet_getHardwareVersion(unsigned devIndex, unsigned id, unsigned *hdVersion, unsigned timeout = 100);
130 
139  EXTERNFUNC int planet_getFirmwareVersion(unsigned devIndex, unsigned id, unsigned *fmVersion, unsigned timeout = 100);
140 
149  EXTERNFUNC int planet_getCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
150 
159  EXTERNFUNC int planet_getVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
160 
169  EXTERNFUNC int planet_getPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
170 
179  EXTERNFUNC int planet_getTargetCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
180 
189  EXTERNFUNC int planet_setTargetCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout = 100);
190 
199  EXTERNFUNC int planet_getTargetVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
200 
209  EXTERNFUNC int planet_setTargetVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
210 
219  EXTERNFUNC int planet_getTargetPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
220 
229  EXTERNFUNC int planet_setTargetPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
230 
238  EXTERNFUNC int planet_quick_setTargetPosition(unsigned devIndex, unsigned id, float position);
239 
248  EXTERNFUNC int planet_getTargetAcceleration(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
249 
258  EXTERNFUNC int planet_setTargetAcceleration(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
259 
268  EXTERNFUNC int planet_getTargetDeceleration(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
269 
278  EXTERNFUNC int planet_setTargetDeceleration(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
279 
292  EXTERNFUNC int planet_getMode(unsigned devIndex, unsigned id, unsigned *mode, unsigned timeout = 100);
293 
306  EXTERNFUNC int planet_setMode(unsigned devIndex, unsigned id, unsigned mode, unsigned timeout = 100);
307 
316  EXTERNFUNC int planet_getEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
317 
326  EXTERNFUNC int planet_setEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
327 
336  EXTERNFUNC int planet_getStopRunState(unsigned devIndex, unsigned id, bool *state, unsigned timeout = 100);
337 
346  EXTERNFUNC int planet_setStopRunState(unsigned devIndex, unsigned id, bool state, unsigned timeout = 100);
347 
356  EXTERNFUNC int planet_getAlert(unsigned devIndex, unsigned id, unsigned *alert, unsigned timeout = 100);
357 
366  EXTERNFUNC int planet_getElectronicGearRatio(unsigned devIndex, unsigned id, float *ratio, unsigned timeout = 100);
367 
376  EXTERNFUNC int planet_getVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout = 100);
377 
386  EXTERNFUNC int planet_getProtectedVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout = 100);
387 
396  EXTERNFUNC int planet_setProtectedVoltage(unsigned devIndex, unsigned id, float voltage, unsigned timeout = 100);
397 
406  EXTERNFUNC int planet_getTemperature(unsigned devIndex, unsigned id, float *tem, unsigned timeout = 100);
407 
416  EXTERNFUNC int planet_getProtectedTemperature(unsigned devIndex, unsigned id, float *protectedTem, unsigned timeout = 100);
417 
426  EXTERNFUNC int planet_setProtectedTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout = 100);
427 
436  EXTERNFUNC int planet_getRecoveryTemperature(unsigned devIndex, unsigned id, float *recoveryTem, unsigned timeout = 100);
437 
446  EXTERNFUNC int planet_setRecoveryTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout = 100);
447 
456  EXTERNFUNC int planet_getPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
457 
466  EXTERNFUNC int planet_setPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
467 
476  EXTERNFUNC int planet_getIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
477 
486  EXTERNFUNC int planet_setIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
487 
496  EXTERNFUNC int planet_getPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
497 
506  EXTERNFUNC int planet_setPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
507 
516  EXTERNFUNC int planet_getIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
517 
526  EXTERNFUNC int planet_setIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
527 
536  EXTERNFUNC int planet_getPOfPositionLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
537 
546  EXTERNFUNC int planet_setPOfPositionLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
547 
556  EXTERNFUNC int planet_getIOfPositionLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
557 
566  EXTERNFUNC int planet_setIOfPositionLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
567 
576  EXTERNFUNC int planet_getIntegralLimit(unsigned devIndex, unsigned id, float *limit, unsigned timeout = 100);
577 
586  EXTERNFUNC int planet_setIntegralLimit(unsigned devIndex, unsigned id, float limit, unsigned timeout = 100);
587 
596  EXTERNFUNC int planet_getMaxCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
597 
606  EXTERNFUNC int planet_setMaxCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout = 100);
607 
616  EXTERNFUNC int planet_getMaxVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
617 
626  EXTERNFUNC int planet_setMaxVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
627 
636  EXTERNFUNC int planet_getMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
637 
646  EXTERNFUNC int planet_setMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
647 
656  EXTERNFUNC int planet_getMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
657 
666  EXTERNFUNC int planet_setMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
667 
676  EXTERNFUNC int planet_getMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
677 
686  EXTERNFUNC int planet_setMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
687 
696  EXTERNFUNC int planet_getMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
697 
706  EXTERNFUNC int planet_setMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
707 
716  EXTERNFUNC int planet_getMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
717 
726  EXTERNFUNC int planet_setMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
727 
736  EXTERNFUNC int planet_getMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
737 
746  EXTERNFUNC int planet_setMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
747 
756  EXTERNFUNC int planet_getLimitState(unsigned devIndex, unsigned id, bool *state, unsigned timeout = 100);
757 
766  EXTERNFUNC int planet_setLimitState(unsigned devIndex, unsigned id, bool state, unsigned timeout = 100);
767 
776  EXTERNFUNC int planet_getMaxPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
777 
786  EXTERNFUNC int planet_setMaxPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
787 
796  EXTERNFUNC int planet_getMinPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
797 
806  EXTERNFUNC int planet_setMinPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
807 
816  EXTERNFUNC int planet_getOriginPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout = 100);
817 
826  EXTERNFUNC int planet_getPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout = 100);
827 
836  EXTERNFUNC int planet_setPositionOffset(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
837 
846  EXTERNFUNC int planet_getSingleLapPositionRange(unsigned devIndex, unsigned id, int *range, unsigned timeout = 100);
847 
856  EXTERNFUNC int planet_setSingleLapPositionRange(unsigned devIndex, unsigned id, int range, unsigned timeout = 100);
857 
867  EXTERNFUNC int planet_getAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
868 
878  EXTERNFUNC int planet_setAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
879 
889  EXTERNFUNC int planet_getBrakeEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
890 
900  EXTERNFUNC int planet_setBrakeEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
901 
910  EXTERNFUNC int planet_getCanBaudrate(unsigned devIndex, unsigned id, int *baudrate, unsigned timeout = 100);
911 
920  EXTERNFUNC int planet_setCanBaudrate(unsigned devIndex, unsigned id, int baudrate, unsigned timeout = 100);
921 
930  EXTERNFUNC int planet_setID(unsigned devIndex, unsigned id, unsigned newId, unsigned timeout = 100);
931 
939  EXTERNFUNC int planet_saveParas(unsigned devIndex, unsigned id, unsigned timeout = 100);
940 
950  EXTERNFUNC int planet_getProductInfo(unsigned devIndex, unsigned id, unsigned *info, unsigned timeout = 100);
951 
961  EXTERNFUNC int planet_setProductInfo(unsigned devIndex, unsigned id, unsigned info, unsigned timeout = 100);
962 
972  EXTERNFUNC int planet_getProtectionSwitch(unsigned devIndex, unsigned id, unsigned *value, unsigned timeout = 100);
973 
983  EXTERNFUNC int planet_setProtectionSwitch(unsigned devIndex, unsigned id, unsigned value, unsigned timeout = 100);
984 
994  EXTERNFUNC int planet_getRatedTorque(unsigned devIndex, unsigned id, unsigned *torque, unsigned timeout = 100);
995 
1005  EXTERNFUNC int planet_getDefaultTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout = 100);
1006 
1016  EXTERNFUNC int planet_getTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout = 100);
1017 
1027  EXTERNFUNC int planet_setTorqueFactor(unsigned devIndex, unsigned id, unsigned factor, unsigned timeout = 100);
1028 
1038  EXTERNFUNC int planet_getStallProtectionTime(unsigned devIndex, unsigned id, unsigned *time, unsigned timeout = 100);
1039 
1049  EXTERNFUNC int planet_setStallProtectionTime(unsigned devIndex, unsigned id, unsigned time, unsigned timeout = 100);
1050 
1060  EXTERNFUNC int planet_getFPGAErrorCount(unsigned devIndex, unsigned id, unsigned *count, unsigned timeout = 100);
1061 
1071  EXTERNFUNC int planet_getSecondEncoderAngle(unsigned devIndex, unsigned id, unsigned *angle, unsigned timeout = 100);
1072 
1082  EXTERNFUNC int planet_getSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout = 100);
1083 
1093  EXTERNFUNC int planet_setSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned offset, unsigned timeout = 100);
1094 
1104  EXTERNFUNC int planet_getFirstEncoderAngle(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout = 100);
1105 
1115  EXTERNFUNC int planet_writeData(unsigned devIndex, unsigned id, unsigned char *sendData, int sendLength);
1116 
1117 #ifdef __cplusplus
1118 }
1119 #endif
1120 
1121 #endif // EU_PLANET_H
EXTERNFUNC int planet_getHeartbeat(unsigned devIndex, unsigned id, bool *heartbeat, unsigned timeout=100)
获得电机心跳状态
EXTERNFUNC int planet_getTargetPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout=100)
获得电机目标位置(°)
EXTERNFUNC int planet_getPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout=100)
获得电机位置(°)
EXTERNFUNC int planet_setMode(unsigned devIndex, unsigned id, unsigned mode, unsigned timeout=100)
设置电机控制模式
EXTERNFUNC int planet_setPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout=100)
设置速度环p值
EXTERNFUNC int planet_getProtectedVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout=100)
获得电机的保护电压(V)
EXTERNFUNC int planet_getMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *velocity, unsigned timeout=100)
获得速度梯形曲线的最大速度(rpm)
EXTERNFUNC int planet_setProtectionSwitch(unsigned devIndex, unsigned id, unsigned value, unsigned timeout=100)
设置保护开关状态
EXTERNFUNC int planet_setMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout=100)
设置位置梯形曲线的最大减速度(rpm/s)
EXTERNFUNC int planet_setMaxCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout=100)
设置电机最大电流值(q值)
EXTERNFUNC int planet_setID(unsigned devIndex, unsigned id, unsigned newId, unsigned timeout=100)
设置电机的id(范围是1~255)
EXTERNFUNC int planet_setMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout=100)
设置速度梯形曲线的最大加速度(rpm/s)
EXTERNFUNC int planet_getVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout=100)
获得电机速度(rpm)
EXTERNFUNC int planet_getSerialNumber(unsigned devIndex, unsigned id, unsigned *serialNum, unsigned timeout=100)
获得电机序列号
void(* planet_SendCallFunc)(unsigned id, const unsigned char *data, unsigned size)
发送数据回调函数
Definition: eu_planet.h:49
EXTERNFUNC int planet_setReceiveCallFunction(planet_ReceiveCallFunc callFunc)
设置接收数据回调函数,可以通过该函数捕获实际接收的can数据
EXTERNFUNC int planet_setTorqueFactor(unsigned devIndex, unsigned id, unsigned factor, unsigned timeout=100)
设置扭矩因子
EXTERNFUNC int planet_setPositionOffset(unsigned devIndex, unsigned id, float position, unsigned timeout=100)
设置电机的位置偏置(°)
EXTERNFUNC int planet_getSecondEncoderAngle(unsigned devIndex, unsigned id, unsigned *angle, unsigned timeout=100)
读取第二磁编角度参数
EXTERNFUNC int planet_setPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout=100)
设置电流环p值
EXTERNFUNC int planet_getSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout=100)
读取第二磁编校准偏移
EXTERNFUNC int planet_getHardwareVersion(unsigned devIndex, unsigned id, unsigned *hdVersion, unsigned timeout=100)
获得硬件版本号
EXTERNFUNC int planet_setStopRunState(unsigned devIndex, unsigned id, bool state, unsigned timeout=100)
设置电机停止状态
EXTERNFUNC int planet_getProductInfo(unsigned devIndex, unsigned id, unsigned *info, unsigned timeout=100)
获取产品信息
EXTERNFUNC int planet_setIntegralLimit(unsigned devIndex, unsigned id, float limit, unsigned timeout=100)
设置力矩环积分限制
EXTERNFUNC int planet_setRecoveryTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout=100)
设置电机恢复温度(℃)
EXTERNFUNC int planet_getIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout=100)
获得速度环i值
EXTERNFUNC int planet_setIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout=100)
设置速度环i值
EXTERNFUNC int planet_setCanBaudrate(unsigned devIndex, unsigned id, int baudrate, unsigned timeout=100)
设置电机的波特率
EXTERNFUNC int planet_getOriginPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout=100)
获得电机的位置偏置(原始数据,没有进行q24转换)
EXTERNFUNC int planet_setSingleLapPositionRange(unsigned devIndex, unsigned id, int range, unsigned timeout=100)
设置电机上电时刻的单圈位置范围值
EXTERNFUNC int planet_getTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout=100)
读取扭矩因子
EXTERNFUNC int planet_setSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned offset, unsigned timeout=100)
设置第二磁编校准偏移
EXTERNFUNC int planet_setIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout=100)
设置电流环i值
EXTERNFUNC int planet_getDefaultTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout=100)
读取默认扭矩因子
EXTERNFUNC int planet_getBrakeEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout=100)
获取抱闸使能状态
EXTERNFUNC int planet_getMaxVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout=100)
获得电机最大速度值(rpm)
EXTERNFUNC int planet_getIntegralLimit(unsigned devIndex, unsigned id, float *limit, unsigned timeout=100)
获得力矩环积分限制
#define EXTERNFUNC
Definition: eu_planet.h:13
EXTERNFUNC int planet_getEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout=100)
获得电机使能状态
EXTERNFUNC int planet_getStopRunState(unsigned devIndex, unsigned id, bool *state, unsigned timeout=100)
EXTERNFUNC int planet_freeDLL(unsigned devIndex)
关闭设备,释放资源,成功初始化设备后,需要在程序结束时调用该函数
EXTERNFUNC int planet_setLimitState(unsigned devIndex, unsigned id, bool state, unsigned timeout=100)
设置电机的限位状态
EXTERNFUNC int planet_getMaxPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout=100)
获得电机最大位置(°)
EXTERNFUNC int planet_setSendCallFunction(planet_SendCallFunc callFunc)
设置发送数据回调函数,可以通过该函数捕获实际发送的can数据
EXTERNFUNC int planet_getCanBaudrate(unsigned devIndex, unsigned id, int *baudrate, unsigned timeout=100)
获得电机的波特率
EXTERNFUNC int planet_quick_setTargetPosition(unsigned devIndex, unsigned id, float position)
设置电机目标位置(°),该函数用于同步位置模式,实现快写,无需等待控制器返回确认,可以快速连续设置,实现轨迹规划
EXTERNFUNC int planet_setMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout=100)
设置位置梯形曲线的最大加速度(rpm/s)
EXTERNFUNC int planet_getMaxCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout=100)
获得电机最大电流值(q值)
EXTERNFUNC int planet_getTargetCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout=100)
获得目标电流值(q值)
EXTERNFUNC int planet_setMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout=100)
设置速度梯形曲线的最大减速度(rpm/s)
EXTERNFUNC int planet_getMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout=100)
获得速度梯形曲线的最大减速度(rpm/s)
EXTERNFUNC int planet_setIOfPositionLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout=100)
设置位置环i值
planet_Baudrate
波特率
Definition: eu_planet.h:38
@ planet_Baudrate_500
Definition: eu_planet.h:39
@ planet_Baudrate_1000
Definition: eu_planet.h:40
EXTERNFUNC int planet_getTemperature(unsigned devIndex, unsigned id, float *tem, unsigned timeout=100)
获得电机的温度(℃)
EXTERNFUNC int planet_setMaxPosition(unsigned devIndex, unsigned id, float position, unsigned timeout=100)
设置电机最大位置(°)
EXTERNFUNC int planet_getTargetAcceleration(unsigned devIndex, unsigned id, float *acc, unsigned timeout=100)
获得电机目标加速度(rpm/s)
EXTERNFUNC int planet_setTargetPosition(unsigned devIndex, unsigned id, float position, unsigned timeout=100)
设置电机目标位置(°),该函数不适用于同步位置模式,位置模式下设置电机目标位置 参见:quick_setTargetPosition
EXTERNFUNC int planet_setEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout=100)
设置电机使能状态
EXTERNFUNC int planet_setTargetDeceleration(unsigned devIndex, unsigned id, float dec, unsigned timeout=100)
设置电机目标减速度(rpm/s)
EXTERNFUNC int planet_getPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout=100)
获得速度环p值
EXTERNFUNC int planet_setProductInfo(unsigned devIndex, unsigned id, unsigned info, unsigned timeout=100)
设置产品信息
EXTERNFUNC int planet_getMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout=100)
获得位置梯形曲线的最大减速度(rpm/s)
EXTERNFUNC int planet_setTargetAcceleration(unsigned devIndex, unsigned id, float acc, unsigned timeout=100)
设置电机目标加速度(rpm/s)
EXTERNFUNC int planet_getMotorType(unsigned devIndex, unsigned id, unsigned *type, unsigned timeout=100)
获得电机类型
EXTERNFUNC int planet_setStallProtectionTime(unsigned devIndex, unsigned id, unsigned time, unsigned timeout=100)
设置堵转保护时间
EXTERNFUNC int planet_getMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout=100)
获得速度梯形曲线的最大加速度(rpm/s)
EXTERNFUNC int planet_getPOfPositionLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout=100)
获得位置环p值
EXTERNFUNC int planet_setProtectedTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout=100)
设置电机保护温度(℃)
EXTERNFUNC int planet_getPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout=100)
获得电流环p值
EXTERNFUNC int planet_getProtectionSwitch(unsigned devIndex, unsigned id, unsigned *value, unsigned timeout=100)
读取保护开关状态
EXTERNFUNC int planet_getMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout=100)
获得位置梯形曲线的最大加速度(rpm/s)
EXTERNFUNC int planet_setMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout=100)
设置位置梯形曲线的最大速度(rpm)
EXTERNFUNC int planet_setMinPosition(unsigned devIndex, unsigned id, float position, unsigned timeout=100)
设置电机最小位置(°)
void(* planet_ReceiveCallFunc)(unsigned id, const unsigned char *data, unsigned size)
接收数据回调函数
Definition: eu_planet.h:57
EXTERNFUNC int planet_getAlert(unsigned devIndex, unsigned id, unsigned *alert, unsigned timeout=100)
获得电机的警告
EXTERNFUNC int planet_getFirstEncoderAngle(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout=100)
读取第一磁编角度参数
EXTERNFUNC int planet_getStallProtectionTime(unsigned devIndex, unsigned id, unsigned *time, unsigned timeout=100)
读取堵转保护时间
EXTERNFUNC int planet_setBrakeEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout=100)
设置抱闸使能状态
EXTERNFUNC int planet_getMinPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout=100)
获得电机最小位置(°)
EXTERNFUNC int planet_getProtectedTemperature(unsigned devIndex, unsigned id, float *protectedTem, unsigned timeout=100)
获得电机的保护温度(℃)
EXTERNFUNC int planet_setMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout=100)
设置速度梯形曲线的最大速度(rpm)
EXTERNFUNC int planet_writeData(unsigned devIndex, unsigned id, unsigned char *sendData, int sendLength)
发送can数据,数据长度不能超过8
EXTERNFUNC int planet_getTargetDeceleration(unsigned devIndex, unsigned id, float *dec, unsigned timeout=100)
获得电机目标减速度(rpm/s)
EXTERNFUNC int planet_saveParas(unsigned devIndex, unsigned id, unsigned timeout=100)
保存控制器参数,当前修改的控制器参数,重新上电后仍然生效
EXTERNFUNC int planet_getMode(unsigned devIndex, unsigned id, unsigned *mode, unsigned timeout=100)
获得电机控制模式
EXTERNFUNC int planet_setTargetVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout=100)
设置电机目标速度(rpm)
EXTERNFUNC int planet_getPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout=100)
获得电机的位置偏置(°)
EXTERNFUNC int planet_getRecoveryTemperature(unsigned devIndex, unsigned id, float *recoveryTem, unsigned timeout=100)
获得电机恢复温度(℃)
EXTERNFUNC int planet_getIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout=100)
获得电流环i值
EXTERNFUNC int planet_setMaxVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout=100)
设置电机最大速度值(rpm)
EXTERNFUNC int planet_getAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout=100)
获取抗齿槽转矩补偿状态
EXTERNFUNC int planet_getLimitState(unsigned devIndex, unsigned id, bool *state, unsigned timeout=100)
获得电机限位状态
EXTERNFUNC int planet_setTargetCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout=100)
设置目标电流值(q值)
EXTERNFUNC int planet_getIOfPositionLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout=100)
获得位置环i值
EXTERNFUNC int planet_getTargetVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout=100)
获得电机目标速度(rpm)
EXTERNFUNC int planet_getRatedTorque(unsigned devIndex, unsigned id, unsigned *torque, unsigned timeout=100)
读取额定扭矩
EXTERNFUNC int planet_getElectronicGearRatio(unsigned devIndex, unsigned id, float *ratio, unsigned timeout=100)
获得电机的电子齿轮比
EXTERNFUNC int planet_getMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout=100)
获得位置梯形曲线的最大速度(rpm)
EXTERNFUNC int planet_getFPGAErrorCount(unsigned devIndex, unsigned id, unsigned *count, unsigned timeout=100)
读取FPGA通讯错误计数
EXTERNFUNC int planet_setAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout=100)
设置抗齿槽转矩补偿
planet_DeviceType
设备类型
Definition: eu_planet.h:29
@ planet_DeviceType_USBCAN2
Definition: eu_planet.h:30
@ planet_DeviceType_Canable
Definition: eu_planet.h:31
EXTERNFUNC int planet_setProtectedVoltage(unsigned devIndex, unsigned id, float voltage, unsigned timeout=100)
设置电机的保护电压(V)
EXTERNFUNC int planet_getSingleLapPositionRange(unsigned devIndex, unsigned id, int *range, unsigned timeout=100)
获得上电时刻单圈位置范围值
EXTERNFUNC int planet_getVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout=100)
获得电机的电压(V)
EXTERNFUNC int planet_getFirmwareVersion(unsigned devIndex, unsigned id, unsigned *fmVersion, unsigned timeout=100)
获得电机固件版本号
EXTERNFUNC int planet_getCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout=100)
获得电机电流值(q值)
EXTERNFUNC int planet_setPOfPositionLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout=100)
设置位置环p值
EXTERNFUNC int planet_initDLL(planet_DeviceType devType, unsigned devIndex, unsigned channel, planet_Baudrate baudrate)
初始化dll,调用其他函数前,必须先调用该函数进行初始化,初始化成功后设备自动打开