调整转台角度.doc

调整转台角度.txt不怕偷儿带工具，就怕偷儿懂科技！ 1品味生活，完善人性。存在就是机会，思考才能提高。人需要不断打碎自己，更应该重新组装自己。/ CROTATE dialog 调整角度对话框 该段程序的主要思想就是设置调整角度对话框，在对话框中输入目标角度，并让转台启动扫描，使转台角度到达目标角度。即使天线的最大接收方向对准发射天线CROTATE:CROTATE(CWnd* pParent /*=NULL*/): CDialog(CROTATE:IDD, pParent)/AFX_DATA_INIT(CROTATE)m_rotate = 0.0; /目标角度初始设置为0/AFX_DATA_INITvoid CROTATE:DoDataExchange(CDataExchange* pDX) /设置对话框中的输入变量 目标角度m_rotateCDialog:DoDataExchange(pDX);/AFX_DATA_MAP(CROTATE)DDX_Control(pDX, IDC_PROGRESS1, m_pro);DDX_Text(pDX, IDC_EDIT1, m_rotate);/AFX_DATA_MAPCROTATE:CROTATE()if (hCom !=NULL)Close_Comport(hCom);BEGIN_MESSAGE_MAP(CROTATE, CDialog) 设置对话框中的按钮ok，坐标标定，左微调，右微调，退出限位，归零/AFX_MSG_MAP(CROTATE)ON_BN_CLICKED(IDC_RATOTE_OK, OnRatoteOk)ON_BN_CLICKED(IDC_BCALIBTATE, OnBcalibtate)ON_BN_CLICKED(IDC_BLEFT, OnBleft)ON_BN_CLICKED(IDC_BRIGHT, OnBright)ON_BN_CLICKED(IDC_BTCHXW, OnBtchxw)ON_BN_CLICKED(IDC_BZERO, OnBzero)/AFX_MSG_MAPEND_MESSAGE_MAP()/ CROTATE message handlersBOOL CROTATE:OnInitDialog() /输入变量初始化 目标角度定义为-90CDialog:OnInitDialog();/ TODO: Add extra initialization herem_rotate=-90;hCom=Open_Comport(1, 9600); / open the com 1 ;Invalidate(true);UpdateData(false);Poll();return TRUE; / return TRUE unless you set the focus to a control / EXCEPTION: OCX Property Pages should return FALSEvoid CROTATE:AdjustAngle(int mode) /调整角度函数，步进0.2度/MOde=0 ,right turn (increase) ; =1 ,left turn (decrease) ; char* str2com =new char12 ;char haz,laz,sum;float azelfloat;short tmpint,tmpint1;if (mode=0) tmpcmdAZ=tmpcurAZ+0.2f; /转台角度向右，步进为0.2 else tmpcmdAZ=tmpcurAZ-0.2f; /转台角度向左，步进为0.2 if (tmpcmdAZ = 0.0) /如果角度为正，实际角度*10=传输角度 azelfloat = float (floor( tmpcmdAZ * 10.0 + 0.1 );/转台每转过0.1度，伺服控制器就向计算机上报一次转台当前位置角度值。 tmpint = short (azelfloat); tmpint1 = tmpint;haz = char( tmpint1 8 ); /取高八位 laz = tmpint & 0x00ff; /取低八位 else / 如果角度为负，实际角度*10=传输角度azelfloat = float (floor( fabs(tmpcmdAZ) * 10.0 + 0.1 ); tmpint = short (azelfloat);tmpint = tmpint + 1; tmpint1 = tmpint;haz = char( tmpint1 8 ); /取高八位 laz = tmpint & 0x00ff;/取低八位sum =0;sprintf(str2com,%c%c%c%c%c%c%c%c%c%c, 0x55,0x55,0x20,haz,laz,haz,laz,1,1,sum);/启动扫描，每分钟5 Sleep(400) ;Write_Comport(hCom,10, str2com); /发送定位命令delete str2com ;/Sleep(100) ; / query() ;void CROTATE:Poll() /当前角度查询函数char* str2com =new char12 ;char* readstr =new char1024 ;sprintf(str2com,%c%c%c%c%c%c%c%c%c%c, 0x55,0x55,0x26,0,0,0,0,0,0,0xD0);/查询角度 Sleep(500);Write_Comport(hCom,10, str2com); /发送查询命令Sleep(200);int tmpint ;unsigned long BytesRead;char unsigned tmpcharAZ ;char unsigned tmpintH, tmpintL;int tmp ;tmpint = Read_Comport(hCom, &BytesRead, 1024, readstr);if (tmpint)/fprintf(fpklength,%dt%dt%dn,BytesRead,*(readstr + 2),totalk);if (BytesRead = 6) /接收到6个字节或6个字节以上。int k=BytesRead/6 ;tmpcharAZ = *(readstr+3+6*(k-1); /接收最新的数据if (tmpcharAZ128 ) tmpintH = *(readstr+3+6*(k-1) ;tmpintL = *(readstr+4+6*(k-1) ; tmpcurAZ = float(tmpintH*256+tmpintL-65536.0)/10.0); else tmpintH = *(readstr+3+ 6*(k-1) ;tmpintL = *(readstr+4+ 6*(k-1) ; tmp = tmpintH * 256;tmpcurAZ = float( ( tmp + tmpintL) / 10.0);else / if (tmpint)AfxMessageBox(与控制器之间通信不成功!) ;delete str2com ;delete readstr ;void CROTATE:OnRatoteOk() / 按钮ok的函数/ TODO: Add your control notification handler code here/定位到目标角度的ok按钮UpdateData(true);Poll() ; / 查询角度if (fabs(m_rotate-tmpcurAZ)= 0.0) 如果目标角度为正 azelfloat = float (floor( m_rotate * 10.0 + 0.1 );/转台每转过0.1度，伺服控制器就向计算机上报一次转台当前位置角度值。 tmpint = short (azelfloat); tmpint1 = tmpint;haz = char( tmpint1 8 );取高八位 laz = tmpint & 0x00ff; 取低八位 else azelfloat = float (floor( fabs( m_rotate) * 10.0 + 0.1 ); tmpint = short (azelfloat);tmpint = tmpint + 1; tmpint1 = tmpint;haz = char( tmpint1 8 ); laz = tmpint & 0x00ff;sum =0;/sum=0x55+0x55+0x20+haz+laz+haz+laz+1+1;sprintf(str2com,%c%c%c%c%c%c%c%c%c%c, 0x55,0x55,0x20,haz,laz,haz,laz,1,1,sum); /启动扫描，转速为每分钟5Write_Comport(hCom,10, str2com); /发送定位命令 Sleep(200);/开始不断读角度数据，直到到达指定位置BOOL bltoend = true ;char tmpcharAZ ;char unsigned tmpintH, tmpintL;short tmp; unsigned long syspos ; while(bltoend)Sleep(50); /tmpint = Read_Comport(hCom, &BytesRead, 1024, readstr);if (tmpint)if (BytesRead = 6) /接收到6个字节或6个字节以上。for(unsigned long i =1 ;iBytesRead;i+)if(*(readstr+i)=39) /搜寻命令码/0x27应答查询命令，同时将转台当前的绝对位置坐标上报if(*(readstr+i-1)=85) /搜寻同步码 0x55syspos=i ;if(syspos(BytesRead-2) syspos+=1 ; else if(BytesRead-2)=syspos & sysposBytesRead) syspos-=5 ; if (1syspos & sysposBytesRead)tmpcharAZ = *(readstr+syspos); /接收最新的数据if ( (tmpcharAZ & 0x80) = 0x80 ) tmpintH = *(readstr+syspos) ;tmpintL = *(readstr+syspos+1) ; tmp = tmpintH * 256;tmpcharAZ = float( -1.0 * ( (tmp + tmpintL) + 1) / 10.0); else tmpintH = *(readstr+syspos) ;tmpintL = *(readstr+syspos+1) ; tmp = tmpintH * 256;tmpcharAZ = float( ( tmp + tmpintL) / 10.0); int pos =length -int(fabs(m_rotate-tmpcharAZ)/0.1f);m_pro.SetPos(pos);if (fabs(tmpcharAZ-m_rotate)0.05) /到达终点角90bltoend=false ;/Close_Comport(hCom);break ; / exitif (str2com!=NULL) delete str2com ;if (readstr!=NULL) delete readstr ;/Close_Comport(hCom); /关闭串口/CDialog:OnOK();void CROTATE:OnBleft() / TODO: Add your control notification handler code here/左微调Poll();AdjustAngle(1);void CROTATE:OnBright() / TODO: Add your control notification handler code here/右微调Poll();AdjustAngle(0);void CROTATE:OnBcalibtate() / TODO: Add your control notification handler code here/坐标标定char* str2com =new char12 ;sprintf(str2com,%c%c%c%c%c%c%c%c%c%c, 0x55,0x55,0x32,0,0,0,0,0,0,0xDC);/校准转台的绝对零点坐标 Sleep(500);Write_Comport(hCom,10, str2com); /发送坐标标定命令delete str2com ;void CROTATE:OnBtchxw() / TODO: Add your control notification handler code here/退出限位char* str2com =new char12 ; /在转台限位状态下，命令转台自动退出限位。退出限位后，希望立即进行伺服校零sprintf(str2com,%c%c%c%c%c%c%c%c%c%c, 0x55,0x55,0x2E,0,0,0,0,0,0,0xD8); Sleep(500);Write_Comport(hCom,10, str2c