ARCS6 AR6-REV.24062600
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Controller-JXC.hh
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1
7//
8// Copyright (C) 2011-2020 Yuki YOKOKURA
9// This program is free software;
10// you can redistribute it and/or modify it under the terms of the BSD License.
11// For details, see the License.txt file.
12
13#ifndef CONTROLLER_JXC
14#define CONTROLLER_JXC
15
16#include "Matrix.hh"
17#include "PCI-2826CV.hh"
18
19namespace ARCS {
21 class ControllerJXC {
22 public:
24 ControllerJXC(
25 unsigned int Addr,
26 double Ts,
27 std::array<unsigned short int, 11> InputPortArray,
28 std::array<unsigned short int, 11> InputBitArray,
29 std::array<unsigned short int, 13> OutputPortArray,
30 std::array<unsigned short int, 13> OutputBitArray);
32 ControllerJXC();
34 ~ControllerJXC();
36 bool AllReset(void);
38 bool ReturnOrg(void);
40 bool PatternOutput(const short int PatternID);
41 private:
42 PCI2826CV ControllerJxc;
44 ControllerJXC(const ControllerJXC&) = delete;
46 const ControllerJXC& operator = (const ControllerJXC&) = delete;
48 ControllerJXC(ControllerJXC&& r) = delete;
50 double Ts = 0;
52 std::array<unsigned short int, 11> InputPortArray{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
54 std::array<unsigned short int, 11> InputBitArray{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
56 std::array<unsigned short int, 13> OutputPortArray{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
58 std::array<unsigned short int, 13> OutputBitArray{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
60 bool StateDrive = false;
61 bool StateOrg = false;
62 bool StatePattern = false;
63 bool StateReset = false;
64 bool StateSvon = false;
66 short int PrePatternID = -1;
68 unsigned short int PortIn0 = 0;
69 unsigned short int PortIn1 = 0;
70 unsigned short int PortIn2 = 0;
71 unsigned short int PortIn3 = 0;
72 unsigned short int PortIn4 = 0;
73 unsigned short int PortIn5 = 0;
74 unsigned short int PortSetup = 0;
75 unsigned short int PortHold = 0;
76 unsigned short int PortDrive = 0;
77 unsigned short int PortReset = 0;
78 unsigned short int PortSvon = 0;
80 unsigned short int BitIn0 = 0;
81 unsigned short int BitIn1 = 0;
82 unsigned short int BitIn2 = 0;
83 unsigned short int BitIn3 = 0;
84 unsigned short int BitIn4 = 0;
85 unsigned short int BitIn5 = 0;
86 unsigned short int BitSetup = 0;
87 unsigned short int BitHold = 0;
88 unsigned short int BitDrive = 0;
89 unsigned short int BitReset = 0;
90 unsigned short int BitSvon = 0;
92 unsigned short int PortOut0 = 0;
93 unsigned short int PortOut1 = 0;
94 unsigned short int PortOut2 = 0;
95 unsigned short int PortOut3 = 0;
96 unsigned short int PortOut4 = 0;
97 unsigned short int PortOut5 = 0;
98 unsigned short int PortBusy = 0;
99 unsigned short int PortArea = 0;
100 unsigned short int PortSeton = 0;
101 unsigned short int PortInp = 0;
102 unsigned short int PortSvre = 0;
103 unsigned short int PortEstop = 0;
104 unsigned short int PortAlarm = 0;
106 unsigned short int BitOut0 = 0;
107 unsigned short int BitOut1 = 0;
108 unsigned short int BitOut2 = 0;
109 unsigned short int BitOut3 = 0;
110 unsigned short int BitOut4 = 0;
111 unsigned short int BitOut5 = 0;
112 unsigned short int BitBusy = 0;
113 unsigned short int BitArea = 0;
114 unsigned short int BitSeton = 0;
115 unsigned short int BitInp = 0;
116 unsigned short int BitSvre = 0;
117 unsigned short int BitEstop = 0;
118 unsigned short int BitAlarm = 0;
120 void SvonOff(void);
121 };
122}
123
124# endif
Matrix.hh
行列/ベクトル計算クラス(テンプレート版)
ARCS::ControllerJXC
JXCシリーズコントローラでの電動グリッパの制御クラス
Definition Controller-JXC.hh:21
ARCS::ControllerJXC::AllReset
bool AllReset(void)
リセット関数
Definition Controller-JXC.cc:118
ARCS::ControllerJXC::ControllerJXC
ControllerJXC()
空コンストラクタ
Definition Controller-JXC.cc:91
ARCS::ControllerJXC::~ControllerJXC
~ControllerJXC()
デストラクタ
Definition Controller-JXC.cc:97
ARCS::ControllerJXC::ReturnOrg
bool ReturnOrg(void)
原点復帰関数
Definition Controller-JXC.cc:155
ARCS::ControllerJXC::PatternOutput
bool PatternOutput(const short int PatternID)
パターン出力関数
Definition Controller-JXC.cc:181
ARCS::PCI2826CV
PCI-2826入出力クラス Interface社製PCI-2826のための入出力機能を提供します。
Definition PCI-2826CV.hh:18
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