MOTKA MK-200C, Руководство пользователя, Страница: 20 / 26

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port.send(MR, sizeof(MR)); // Move motors
}
Example 4 – Reading of Position
The position of any axis can be queried with the GP instruction.
CSerial port;
If(port.open(2, 115200)) // Open serial port and configured
{ // to baud 115200 bps
char query[7] = “GP ?,?”; // Get position – A and B axes
query[6] = 0x0D; // Terminate with Carriage Return
char readBuf[10]; // Container for reply
char posA[5]; // Buffer for Axis A position
char posB[5]; // Buffer for Axis B position
int i = 0;
port.send(query, sizeof(query)); // Query for position
// Once controller received the command, it will reply the positions.
port.read(readBuf, sizeof(readBuf)); // Read the positions
// Positions replied contained in readBuf are separated by 0x0D
// Read position of Axis A
while(readBuf[i] != 0x0D)
{
posA[i] = readBuf[i];
i++;
}
// Read position of Axis B
while(readBuf[i] != 0x0D)
{
posB[i] = readBuf[i];
i++;
}
}
Example 5 – Velocity Control
In this example, we drive A and B motors at a desired speed.