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direktantrieb wip

Martin Kunz 4 years ago
parent
commit
d3f66641f3
1 changed files with 10 additions and 5 deletions
  1. 10 5
      src/main/java/at/acdp/urweb/fhpp/FHMaster.java

+ 10 - 5
src/main/java/at/acdp/urweb/fhpp/FHMaster.java

@@ -92,13 +92,13 @@ public class FHMaster {
 
         byte cpos=0x0;
         ccon|=(1<<0); // !Halt
-        ccon|=(0<<1); // start fahrauftrag
-        ccon|=(1<<2); // start homing
+        ccon|=(1<<1); // start fahrauftrag
+        ccon|=(0<<2); // start homing
         ccon|=(0<<3); // jog pos
         ccon|=(0<<4); // jog neg
         ccon|=(0<<5); //  teach value
-        ccon|=(0<<6); //  teach value
-        ccon|=(0<<7); //  teach value
+        ccon|=(0<<6); //  clear remaining pos.
+        ccon|=(0<<7); //  Reserved
 
         byte cdir=0x0;
         cdir|=(1<<0); //absolute/relative
@@ -136,7 +136,12 @@ public class FHMaster {
             if (response != null) {
                 var bb=response.getRegisters();
                 try {
-
+                    byte[] res=bb.array();
+                    byte scon=res[0];
+                    byte spos=res[1];
+                    byte sdir=res[2];
+                    int istwert1= (res[3] & 0xFF);
+                    int istwert2= ( (res[4] << 24) & (res[5] <<16) & (res[6] <<8) & res[7]);
                     System.out.println(ByteBufUtil.hexDump(bb));
                 }
                 catch (Exception e) {