Mirrors_Framework/g2
1
0
Fork 0
mirror of https://github.com/synthetos/g2.git synced 2026-09-22 11:29:24 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Added JSON handlers for Enable Polarity

Browse Source
This commit is contained in:
Alden Hart
2018-05-14 05:35:22 -04:00
parent dd1d35def6
commit edead24afc
3 changed files with 39 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
g2core/stepper.cpp
+29 -4
View File
@@ -1006,10 +1006,35 @@ stat_t st_get_pwr(nvObj_t *nv)
return (STAT_OK);
}
stat_t st_set_ep(nvObj_t *nv) // set motor enable polarity
{
if (nv->value_int < IO_ACTIVE_LOW) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > IO_ACTIVE_HIGH) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
Motors[motor]->setEnablePolarity((ioMode)nv->value_int);
return (STAT_OK);
}
stat_t st_get_ep(nvObj_t *nv) // get motor enable polarity
{
if (nv->value_int < IO_ACTIVE_LOW) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > IO_ACTIVE_HIGH) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
nv->value_int = (float)Motors[motor]->getEnablePolarity();
nv->valuetype = TYPE_INTEGER;
return (STAT_OK);
}
stat_t st_set_sp(nvObj_t *nv) // set motor step polarity
{
if (nv->value_int < 0) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > 1) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
if (nv->value_int < IO_ACTIVE_LOW) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > IO_ACTIVE_HIGH) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
@@ -1020,8 +1045,8 @@ stat_t st_set_sp(nvObj_t *nv) // set motor step polarity
stat_t st_get_sp(nvObj_t *nv) // get motor step polarity
{
if (nv->value_int < 0) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > 1) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
if (nv->value_int < IO_ACTIVE_LOW) { return (STAT_INPUT_LESS_THAN_MIN_VALUE); }
if (nv->value_int > IO_ACTIVE_HIGH) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };