利用goto ~ sw命令，当限制开关关闭时可自动停止步进电机的动作。 通过此命令电机停止后，电机的状态值变为停止状态。
"goto [dir]sw(id) [speed] [accel] [decel]"
※ 注意:[dir]与sw(id)之间没有空空间。
| argument | 说明 | 必须/选项 |
|---|---|---|
| dir | direction, "+"(forward) or "-"(reverse) | optional(default: "+") |
| id | ID of a digital input port, 0/1/2/3 | mandatory |
| speed | speed(unit: pps) | optional |
| accel | acceleration(unit: pps/s) | optional |
| decel | deceleration(unit: pps/s) | optional |
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(115200);
$sid = 1;
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set mode full");
// rotate until digital input 0 is LOW
echo "find positive limit ...";
spc_request_dev($sid, "goto +sw0 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";
sleep(1);
// rotate until digital input 0 is LOW
echo "find negative limit ...";
spc_request_dev($sid, "goto -sw0 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";
?>find positive limit ...done
find negative limit ...done