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drivers for arm

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master
adligeerik 6 years ago
parent 6c8e7c1eed
commit 989a808d3f
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48
movearm/DobotControl.py
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import threading
import DobotDllType as dType
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Connect status:",CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
#Async Motion Params Setting
dType.SetHOMEParams(api, 250, 0, 50, 0, isQueued = 1)
dType.SetPTPJointParams(api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1)
dType.SetPTPCommonParams(api, 100, 100, isQueued = 1)
#Async Home
dType.SetHOMECmd(api, temp = 0, isQueued = 1)
#Async PTP Motion
for i in range(0, 5):
if i % 2 == 0:
offset = 50
else:
offset = -50
lastIndex = dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 200 + offset, offset, offset, offset, isQueued = 1)[0]
#Start to Execute Command Queued
dType.SetQueuedCmdStartExec(api)
#Wait for Executing Last Command
while lastIndex > dType.GetQueuedCmdCurrentIndex(api)[0]:
dType.dSleep(100)
#Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(api)
#Disconnect Dobot
dType.DisconnectDobot(api)

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movearm/DobotDll.dll
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movearm/DobotDll.exp
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movearm/DobotDll.h
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#ifndef DOBOTDLL_H
#define DOBOTDLL_H
#include "dobotdll_global.h"
#include "DobotType.h"
extern "C" DOBOTDLLSHARED_EXPORT int DobotExec(void);
extern "C" DOBOTDLLSHARED_EXPORT int SearchDobot(char *dobotNameList, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int ConnectDobot(const char *portName, uint32_t baudrate, char *fwType, char *version);
extern "C" DOBOTDLLSHARED_EXPORT int DisconnectDobot(void);
extern "C" DOBOTDLLSHARED_EXPORT int SetCmdTimeout(uint32_t cmdTimeout);
// Device information
extern "C" DOBOTDLLSHARED_EXPORT int SetDeviceSN(const char *deviceSN);
extern "C" DOBOTDLLSHARED_EXPORT int GetDeviceSN(char *deviceSN, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int SetDeviceName(const char *deviceName);
extern "C" DOBOTDLLSHARED_EXPORT int GetDeviceName(char *deviceName, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int GetDeviceVersion(uint8_t *majorVersion, uint8_t *minorVersion, uint8_t *revision);
extern "C" DOBOTDLLSHARED_EXPORT int SetDeviceWithL(bool isWithL, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetDeviceWithL(bool *isWithL);
extern "C" DOBOTDLLSHARED_EXPORT int GetDeviceTime(uint32_t *deviceTime);
// Pose and Kinematics parameters are automatically get
extern "C" DOBOTDLLSHARED_EXPORT int GetPose(Pose *pose);
extern "C" DOBOTDLLSHARED_EXPORT int ResetPose(bool manual, float rearArmAngle, float frontArmAngle);
extern "C" DOBOTDLLSHARED_EXPORT int GetKinematics(Kinematics *kinematics);
extern "C" DOBOTDLLSHARED_EXPORT int GetPoseL(float *l);
// Alarms
extern "C" DOBOTDLLSHARED_EXPORT int GetAlarmsState(uint8_t *alarmsState, uint32_t *len, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int ClearAllAlarmsState(void);
// HOME
extern "C" DOBOTDLLSHARED_EXPORT int SetHOMEParams(HOMEParams *homeParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetHOMEParams(HOMEParams *homeParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetHOMECmd(HOMECmd *homeCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetAutoLevelingCmd(AutoLevelingCmd *autoLevelingCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetAutoLevelingResult(float *precision);
// Handheld teach
extern "C" DOBOTDLLSHARED_EXPORT int SetHHTTrigMode(HHTTrigMode hhtTrigMode);
extern "C" DOBOTDLLSHARED_EXPORT int GetHHTTrigMode(HHTTrigMode *hhtTrigMode);
extern "C" DOBOTDLLSHARED_EXPORT int SetHHTTrigOutputEnabled(bool isEnabled);
extern "C" DOBOTDLLSHARED_EXPORT int GetHHTTrigOutputEnabled(bool *isEnabled);
extern "C" DOBOTDLLSHARED_EXPORT int GetHHTTrigOutput(bool *isTriggered);
// EndEffector
extern "C" DOBOTDLLSHARED_EXPORT int SetEndEffectorParams(EndEffectorParams *endEffectorParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetEndEffectorParams(EndEffectorParams *endEffectorParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetEndEffectorLaser(bool enableCtrl, bool on, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetEndEffectorLaser(bool *isCtrlEnabled, bool *isOn);
extern "C" DOBOTDLLSHARED_EXPORT int SetEndEffectorSuctionCup(bool enableCtrl, bool suck, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetEndEffectorSuctionCup(bool *isCtrlEnabled, bool *isSucked);
extern "C" DOBOTDLLSHARED_EXPORT int SetEndEffectorGripper(bool enableCtrl, bool grip, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetEndEffectorGripper(bool *isCtrlEnabled, bool *isGripped);
// Arm orientation
extern "C" DOBOTDLLSHARED_EXPORT int SetArmOrientation(ArmOrientation armOrientation, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetArmOrientation(ArmOrientation *armOrientation);
// JOG functions
extern "C" DOBOTDLLSHARED_EXPORT int SetJOGJointParams(JOGJointParams *jointJogParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetJOGJointParams(JOGJointParams *jointJogParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetJOGCoordinateParams(JOGCoordinateParams *coordinateJogParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetJOGCoordinateParams(JOGCoordinateParams *coordinateJogParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetJOGLParams(JOGLParams *jogLParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetJOGLParams(JOGLParams *jogLParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetJOGCommonParams(JOGCommonParams *jogCommonParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetJOGCommonParams(JOGCommonParams *jogCommonParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetJOGCmd(JOGCmd *jogCmd, bool isQueued, uint64_t *queuedCmdIndex);
// PTP functions
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPJointParams(PTPJointParams *ptpJointParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPJointParams(PTPJointParams *ptpJointParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPCoordinateParams(PTPCoordinateParams *ptpCoordinateParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPCoordinateParams(PTPCoordinateParams *ptpCoordinateParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPLParams(PTPLParams *ptpLParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPLParams(PTPLParams *ptpLParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPJumpParams(PTPJumpParams *ptpJumpParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPJumpParams(PTPJumpParams *ptpJumpParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPCommonParams(PTPCommonParams *ptpCommonParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPCommonParams(PTPCommonParams *ptpCommonParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPCmd(PTPCmd *ptpCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPWithLCmd(PTPWithLCmd *ptpWithLCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPJump2Params(PTPJump2Params *ptpJump2Params, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPJump2Params(PTPJump2Params *ptpJump2Params);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPPOCmd(PTPCmd *ptpCmd, ParallelOutputCmd *parallelCmd, int parallelCmdCount, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetPTPPOWithLCmd(PTPWithLCmd *ptpWithLCmd, ParallelOutputCmd *parallelCmd, int parallelCmdCount, bool isQueued, uint64_t *queuedCmdIndex);
// CP functions
extern "C" DOBOTDLLSHARED_EXPORT int SetCPParams(CPParams *cpParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetCPParams(CPParams *cpParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetCPCmd(CPCmd *cpCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetCPLECmd(CPCmd *cpCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetCPRHoldEnable(bool isEnable);
extern "C" DOBOTDLLSHARED_EXPORT int GetCPRHoldEnable(bool *isEnable);
extern "C" DOBOTDLLSHARED_EXPORT int SetCPCommonParams(CPCommonParams *cpCommonParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetCPCommonParams(CPCommonParams *cpCommonParams);
// ARC
extern "C" DOBOTDLLSHARED_EXPORT int SetARCParams(ARCParams *arcParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetARCParams(ARCParams *arcParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetARCCmd(ARCCmd *arcCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetCircleCmd(CircleCmd *circleCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetARCCommonParams(ARCCommonParams *arcCommonParams, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetARCCommonParams(ARCCommonParams *arcCommonParams);
// WAIT
extern "C" DOBOTDLLSHARED_EXPORT int SetWAITCmd(WAITCmd *waitCmd, bool isQueued, uint64_t *queuedCmdIndex);
// TRIG
extern "C" DOBOTDLLSHARED_EXPORT int SetTRIGCmd(TRIGCmd *trigCmd, bool isQueued, uint64_t *queuedCmdIndex);
// EIO
extern "C" DOBOTDLLSHARED_EXPORT int SetIOMultiplexing(IOMultiplexing *ioMultiplexing, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetIOMultiplexing(IOMultiplexing *ioMultiplexing);
extern "C" DOBOTDLLSHARED_EXPORT int SetIODO(IODO *ioDO, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetIODO(IODO *ioDO);
extern "C" DOBOTDLLSHARED_EXPORT int SetIOPWM(IOPWM *ioPWM, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetIOPWM(IOPWM *ioPWM);
extern "C" DOBOTDLLSHARED_EXPORT int GetIODI(IODI *ioDI);
extern "C" DOBOTDLLSHARED_EXPORT int GetIOADC(IOADC *ioADC);
extern "C" DOBOTDLLSHARED_EXPORT int SetEMotor(EMotor *eMotor, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetEMotorS(EMotorS *eMotorS, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetColorSensor(bool enable,ColorPort colorPort);
extern "C" DOBOTDLLSHARED_EXPORT int GetColorSensor(uint8_t *r, uint8_t *g, uint8_t *b);
extern "C" DOBOTDLLSHARED_EXPORT int SetInfraredSensor(bool enable,InfraredPort infraredPort);
extern "C" DOBOTDLLSHARED_EXPORT int GetInfraredSensor(InfraredPort port, uint8_t *value);
// CAL
extern "C" DOBOTDLLSHARED_EXPORT int SetAngleSensorStaticError(float rearArmAngleError, float frontArmAngleError);
extern "C" DOBOTDLLSHARED_EXPORT int GetAngleSensorStaticError(float *rearArmAngleError, float *frontArmAngleError);
extern "C" DOBOTDLLSHARED_EXPORT int SetAngleSensorCoef(float rearArmAngleCoef, float frontArmAngleCoef);
extern "C" DOBOTDLLSHARED_EXPORT int GetAngleSensorCoef(float *rearArmAngleCoef, float *frontArmAngleCoef);
extern "C" DOBOTDLLSHARED_EXPORT int SetBaseDecoderStaticError(float baseDecoderError);
extern "C" DOBOTDLLSHARED_EXPORT int GetBaseDecoderStaticError(float *baseDecoderError);
extern "C" DOBOTDLLSHARED_EXPORT int SetLRHandCalibrateValue(float lrHandCalibrateValue);
extern "C" DOBOTDLLSHARED_EXPORT int GetLRHandCalibrateValue(float *lrHandCalibrateValue);
// WIFI
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFIConfigMode(bool enable);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIConfigMode(bool *isEnabled);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFISSID(const char *ssid);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFISSID(char *ssid, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFIPassword(const char *password);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIPassword(char *password, uint32_t maxLen);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFIIPAddress(WIFIIPAddress *wifiIPAddress);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIIPAddress(WIFIIPAddress *wifiIPAddress);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFINetmask(WIFINetmask *wifiNetmask);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFINetmask(WIFINetmask *wifiNetmask);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFIGateway(WIFIGateway *wifiGateway);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIGateway(WIFIGateway *wifiGateway);
extern "C" DOBOTDLLSHARED_EXPORT int SetWIFIDNS(WIFIDNS *wifiDNS);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIDNS(WIFIDNS *wifiDNS);
extern "C" DOBOTDLLSHARED_EXPORT int GetWIFIConnectStatus(bool *isConnected);
//FIRMWARE
extern "C" DOBOTDLLSHARED_EXPORT int UpdateFirmware(FirmwareParams *firmwareParams);
extern "C" DOBOTDLLSHARED_EXPORT int SetFirmwareMode(FirmwareMode *firmwareMode);
extern "C" DOBOTDLLSHARED_EXPORT int GetFirmwareMode(FirmwareMode *firmwareMode);
//LOSTSTEP
extern "C" DOBOTDLLSHARED_EXPORT int SetLostStepParams(float threshold, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SetLostStepCmd(bool isQueued, uint64_t *queuedCmdIndex);
//UART4 Peripherals
extern "C" DOBOTDLLSHARED_EXPORT int GetUART4PeripheralsType(uint8_t *type);
extern "C" DOBOTDLLSHARED_EXPORT int SetUART4PeripheralsEnable(bool isEnable);
extern "C" DOBOTDLLSHARED_EXPORT int GetUART4PeripheralsEnable(bool *isEnable);
//Function Pluse Mode
extern "C" DOBOTDLLSHARED_EXPORT int SendPluse(PluseCmd *pluseCmd, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SendPluseEx(PluseCmd *pluseCmd);
// TEST
extern "C" DOBOTDLLSHARED_EXPORT int GetUserParams(UserParams *userParams);
extern "C" DOBOTDLLSHARED_EXPORT int GetPTPTime(PTPCmd *ptpCmd, uint32_t *ptpTime);
extern "C" DOBOTDLLSHARED_EXPORT int GetServoPIDParams(PID *pid);
extern "C" DOBOTDLLSHARED_EXPORT int SetServoPIDParams(PID *pid, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int GetServoControlLoop(uint8_t index, uint8_t *controlLoop);
extern "C" DOBOTDLLSHARED_EXPORT int SetServoControlLoop(uint8_t index, uint8_t controlLoop, bool isQueued, uint64_t *queuedCmdIndex);
extern "C" DOBOTDLLSHARED_EXPORT int SaveServoPIDParams(uint8_t index, uint8_t controlLoop, bool isQueued, uint64_t *queuedCmdIndex);
// Queued command
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdStartExec(void);
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdStopExec(void);
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdForceStopExec(void);
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdStartDownload(uint32_t totalLoop, uint32_t linePerLoop);
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdStopDownload(void);
extern "C" DOBOTDLLSHARED_EXPORT int SetQueuedCmdClear(void);
extern "C" DOBOTDLLSHARED_EXPORT int GetQueuedCmdCurrentIndex(uint64_t *queuedCmdCurrentIndex);
#endif // DOBOTDLL_H

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movearm/DobotDllType.py
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#ifndef DOBOTTYPE_H
#define DOBOTTYPE_H
#ifdef _MSC_VER
typedef unsigned char uint8_t;
typedef signed char int8_t;
typedef unsigned short uint16_t;
typedef signed short int16_t;
typedef unsigned int uint32_t;
typedef signed int int32_t;
typedef unsigned long long uint64_t;
typedef signed long long int64_t;
#else
#include <stdint.h>
#endif
/*********************************************************************************************************
** Data structures
*********************************************************************************************************/
/*********************************************************************************************************
** Common parts
*********************************************************************************************************/
#pragma pack(push)
#pragma pack(1)
/*
* Real-time pose
*/
typedef struct tagPose {
float x;
float y;
float z;
float r;
float jointAngle[4];
}Pose;
/*
* Kinematics parameters
*/
typedef struct tagKinematics {
float velocity;
float acceleration;
}Kinematics;
/*
* HOME related
*/
typedef struct tagHOMEParams {
float x;
float y;
float z;
float r;
}HOMEParams;
typedef struct tagHOMECmd {
uint32_t reserved;
}HOMECmd;
typedef struct tagAutoLevelingCmd {
uint8_t controlFlag;
float precision;
}AutoLevelingCmd;
/*
* Hand hold teach
*/
typedef enum tagHHTTrigMode {
TriggeredOnKeyReleased,
TriggeredOnPeriodicInterval
}HHTTrigMode;
/*
* End effector
*/
typedef struct tagEndEffectorParams {
float xBias;
float yBias;
float zBias;
}EndEffectorParams;
/*
* Arm orientation
*/
typedef enum tagArmOrientation {
LeftyArmOrientation,
RightyArmOrientation,
}ArmOrientation;
/*
* JOG related
*/
typedef struct tagJOGJointParams {
float velocity[4];
float acceleration[4];
}JOGJointParams;
typedef struct tagJOGCoordinateParams {
float velocity[4];
float acceleration[4];
}JOGCoordinateParams;
typedef struct tagJOGLParams {
float velocity;
float acceleration;
}JOGLParams;
typedef struct tagJOGCommonParams {
float velocityRatio;
float accelerationRatio;
}JOGCommonParams;
enum {
JogIdle,
JogAPPressed,
JogANPressed,
JogBPPressed,
JogBNPressed,
JogCPPressed,
JogCNPressed,
JogDPPressed,
JogDNPressed,
JogEPPressed,
JogENPressed
};
typedef struct tagJOGCmd {
uint8_t isJoint;
uint8_t cmd;
}JOGCmd;
/*
* PTP related
*/
typedef struct tagPTPJointParams {
float velocity[4];
float acceleration[4];
}PTPJointParams;
typedef struct tagPTPCoordinateParams {
float xyzVelocity;
float rVelocity;
float xyzAcceleration;
float rAcceleration;
}PTPCoordinateParams;
typedef struct tagPTPLParams {
float velocity;
float acceleration;
}PTPLParams;
typedef struct tagPTPJumpParams {
float jumpHeight;
float zLimit;
}PTPJumpParams;
typedef struct tagPTPJump2Params {
float startJumpHeight;
float endJumpHeight;
float zLimit;
}PTPJump2Params;
typedef struct tagPTPCommonParams {
float velocityRatio;
float accelerationRatio;
}PTPCommonParams;
enum PTPMode {
PTPJUMPXYZMode,
PTPMOVJXYZMode,
PTPMOVLXYZMode,
PTPJUMPANGLEMode,
PTPMOVJANGLEMode,
PTPMOVLANGLEMode,
PTPMOVJANGLEINCMode,
PTPMOVLXYZINCMode,
PTPMOVJXYZINCMode,
PTPJUMPMOVLXYZMode,
};
typedef struct tagPTPCmd {
uint8_t ptpMode;
float x;
float y;
float z;
float r;
}PTPCmd;
typedef struct tagPTPWithLCmd {
uint8_t ptpMode;
float x;
float y;
float z;
float r;
float l;
}PTPWithLCmd;
typedef struct tagParallelOutputCmd {
uint8_t ratio;
uint16_t address;
uint8_t level;
}ParallelOutputCmd;
/*
* CP related
*/
typedef struct tagCPParams
{
float planAcc;
float juncitionVel;
union {
float acc;
float period;
};
uint8_t realTimeTrack;
}CPParams;
typedef struct tagCPCommonParams {
float velocityRatio;
float accelerationRatio;
}CPCommonParams;
enum CPMode {
CPRelativeMode,
CPAbsoluteMode
};
typedef struct tagCPCmd {
uint8_t cpMode;
float x;
float y;
float z;
union {
float velocity;
float power;
};
}CPCmd;
/*
* ARC related
*/
typedef struct tagARCParams {
float xyzVelocity;
float rVelocity;
float xyzAcceleration;
float rAcceleration;
}ARCParams;
typedef struct tagARCCommonParams {
float velocityRatio;
float accelerationRatio;
}ARCCommonParams;
typedef struct tagARCCmd {
struct {
float x;
float y;
float z;
float r;
}cirPoint;
struct {
float x;
float y;
float z;
float r;
}toPoint;
}ARCCmd;
typedef struct tagCircleCmd {
struct {
float x;
float y;
float z;
float r;
}cirPoint;
struct {
float x;
float y;
float z;
float r;
}toPoint;
uint32_t count;
}CircleCmd;
typedef struct tagWAITCmd {
uint32_t timeout;
}WAITCmd;
typedef enum tagTRIGMode {
TRIGInputIOMode,
TRIGADCMode
}TRIGMode;
typedef enum tagTRIGInputIOCondition {
TRIGInputIOEqual,
TRIGInputIONotEqual
}TRIGInputIOCondition;
typedef enum tagTRIGADCCondition {
TRIGADCLT, // Lower than
TRIGADCLE, // Lower than or Equal
TRIGADCGE, // Greater than or Equal
TRIGADCGT // Greater Than
}TRIGADCCondition;
typedef struct tagTRIGCmd {
uint8_t address;
uint8_t mode;
uint8_t condition;
uint16_t threshold;
}TRIGCmd;
typedef enum tagIOFunction {
IOFunctionDummy,
IOFunctionDO,
IOFunctionPWM,
IOFunctionDI,
IOFunctionADC
}IOFunction;
typedef struct tagIOMultiplexing {
uint8_t address;
uint8_t multiplex;
}IOMultiplexing;
typedef struct tagIODO {
uint8_t address;
uint8_t level;
}IODO;
typedef struct tagIOPWM {
uint8_t address;
float frequency;
float dutyCycle;
}IOPWM;
typedef struct tagIODI {
uint8_t address;
uint8_t level;
}IODI;
typedef struct tagIOADC {
uint8_t address;
uint16_t value;
}IOADC;
typedef struct tagEMotor {
uint8_t index;
uint8_t isEnabled;
int32_t speed;
}EMotor;
typedef struct tagEMotorS {
uint8_t index;
uint8_t isEnabled;
int32_t speed;
uint32_t distance;
}EMotorS;
/*
* WIFI related
*/
typedef struct tagWIFIIPAddress {
uint8_t dhcp;
uint8_t addr[4];
}WIFIIPAddress;
typedef struct tagWIFINetmask {
uint8_t addr[4];
}WIFINetmask;
typedef struct tagWIFIGateway {
uint8_t addr[4];
}WIFIGateway;
typedef struct tagWIFIDNS {
uint8_t addr[4];
}WIFIDNS;
/*
* Test
*/
typedef struct tagUserParams{
float params[8];
}UserParams;
/*
* Firmware related
*/
enum FirmwareSwitchMode{
NO_SWITCH,
DOBOT_SWITCH,
PRINTING_SWITCH,
DRIVER1_SWITCH,
DRIVER2_SWITCH,
DRIVER3_SWITCH,
DRIVER4_SWITCH,
DRIVER5_SWITCH
};
typedef struct tagFirmwareParams {
uint8_t mode;
}FirmwareParams;
enum FirewareMode{
INVALID_MODE,
DOBOT_MODE,
PRINTING_MODE,
OFFLINE_MODE
};
typedef struct tagFirmwareModes {
uint8_t mode;
uint8_t ctl; //0 or 1
}FirmwareMode;
typedef enum tagServoControlLoop{
ServoPositionLoop,
ServoVelocityLoop,
ServoCurrentLoop
}ServoControlLoop;
typedef struct tagPIDParams{
float p;
float i;
float d;
float v;
float a;
}PIDParams;
typedef struct tagPID{
uint8_t index;
uint8_t controlLoop;
PIDParams params;
}PID;
typedef enum tagColorPort{
CL_PORT_GP1,
CL_PORT_GP2,
CL_PORT_GP4,
CL_PORT_GP5
}ColorPort;
typedef enum tagInfraredPort{
IF_PORT_GP1,
IF_PORT_GP2,
IF_PORT_GP4,
IF_PORT_GP5
}InfraredPort;
typedef enum tagUART4PeripheralsType {
UART4PeripheralsUART,
UART4PeripheralsWIFI,
UART4PeripheralsBLE,
UART4PeripheralsCH375
} UART4PeripheralsType;
typedef struct tagPluseCmd {
float j1;
float j2;
float j3;
float j4;
float e1;
float e2;
} PluseCmd;
/*********************************************************************************************************
** API result
*********************************************************************************************************/
enum {
DobotConnect_NoError,
DobotConnect_NotFound,
DobotConnect_Occupied
};
enum {
DobotCommunicate_NoError,
DobotCommunicate_BufferFull,
DobotCommunicate_Timeout,
DobotCommunicate_InvalidParams
};
#pragma pack(pop)
#endif

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movearm/dobotdll_global.h
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#ifndef DOBOTDLL_GLOBAL_H
#define DOBOTDLL_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(DOBOTDLL_LIBRARY)
# define DOBOTDLLSHARED_EXPORT Q_DECL_EXPORT
#else
# define DOBOTDLLSHARED_EXPORT Q_DECL_IMPORT
#endif
#endif // DOBOTDLL_GLOBAL_H

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