z3scn And z3scnpro API (Control SCN5 And SCN6 Electric Linear Actuator)

init()
getmodule()
terminate()
getdeviceinfo()

-- HIGH LEVEL API (z3scn and z3scnpro device extension)
gohome()
gocenter()
goposition()
loadposition()
submitcheck()
submit() or showme()
checkscn()

-- LOW LEVEL API (z3scnpro device extension)
start_preload_command()
clear_preload_command()
move_abs()
hmoveabs()
moveinc()
hmoveinc()
movejog()
hmovejog()
moveorg()
hmoveorg()
movepoint()
checkpfin()
checkalarm()
checkservo()
checkson()
setson()
checkstatus()
setspeed()
setaccel()
setgain()
dumpparams()
setparam()
readparam()
loadparam()
readspeedaccel()
clearcmd()
getsioerror()

id = 0 -- (value from 0 to 15)
stroke mode 0=100mm, 1=50mm, 2=100mm, 3=150mm, 4=200mm
accel = 78 -- (value from 70 to 1000)
gain = 6 -- (value from 6 to 10)
normal speed = 8000 -- (value from 1000 to 20000)
home speed = 2000 -- (value from 1000 to 5000)

-- init SCN6 actuator on port COM3 with default paramaters
dev.init(3)

-- register main module
z3e.mainmodule(dev.getmodule())

-- load core engine and create the global z3e instance, 
-- if not already created by zCube Runtime
if z3e == nil then z3e = require("z3engine") end

-- load device extension and create the scn instance
local dev= require("z3scn")
-- init core
z3e.init()
--  init scn device with COM Port 2
if dev.init(2) then
	-- register main module
	z3e.mainmodule(dev.getmodule())

	-- your script here

	-- end of script
	dev.terminate()
end

-- end of script
dev.terminate()

-- SELECTOR STRING
-- ---------------------------------------------------------------------------
	--[[ 
"version" 
	]]
	-- return version as string
	-- example:
		local z3dll_vers = scn.getdeviceinfo("version")

	--[[ 
"name" 
	]]
	-- return name of extension as string
	-- example:
		local device_name = scn.getdeviceinfo("name")

	--[[ 
"type"
	]]
	-- return the class number of the device (see the device type class) 
	-- example:
		local class_num = scn.getdeviceinfo("type")
		

	--[[ 
"ticks" 
	]]
	-- return number of ticks elapsed since PC startup
	-- example:
	-- if scn.getdeviceinfo("ticks") > old_tick then print("time elapsed!") end

-- DEVICE CAPABILITIES
-- ---------------------------------------------------------------------------
-- (WIP 2022-04) ...

dev.gohome()
dev.submitcheck()

dev.gocenter()
dev.submitcheck()

dev.goposition(55.0)
dev.showme()

dev.loadposition(75.0)
dev.submitcheck()

local scnPos = 44.5428
dev.goposition(scnPos)
dev.showme()
if dev.checkscn() >0 then print("SCN Error!") end

-- #####################################################################

-- # sample script to test device 
-- # for zCUBE Engine Lua extension module 
-- # Copyright (c)2022 by Zappadoc - All Rights Reserved.
-- # https://www.eksimracing.org

-- This source code, module, lib and all information, data, and algorithms
-- associated with it are subject to change without notice.
                                                                     
-- Change history: 
				-- 2022.01.30: created - zappadoc                                        
-- License
-- https://zappadoc.com/terms-conditions

-- DISCLAIMER:
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
-- IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-- TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-- PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
-- CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-- EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-- PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
-- OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-- WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
-- OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
-- IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-- All product names are trademarks or registered trademarks of their respective holders.

-- #####################################################################
package.path  = package.path..";.\\lua\\?.lua;.\\lua\\scripts\\?.lua;.\\lua\\socket\\?.lua;.\\lua\\mime\\?.lua;.\\lua\\jit\\?.lua"
package.cpath = package.cpath..";.\\lua\\?.dl;.\\lua\\scripts\\?.dlll"

function full_test_device()
	if z3e == nil then z3e = require("z3engine") end
	z3e.init()
	-- load device extension
	local dev = require("z3scn")

	-- init scn with COM Port 4 and default parameters
	if dev.init(4) then
		-- register main module
		z3e.mainmodule(dev.getmodule())

		print("Start Testing...")

		-- ---------------------------------------------------
		-- constants
		local z3vers = z3e.getinfo("version")
		
		-- SCN actuator 100mm
		local max_stroke = 100
		local pos_center = max_stroke / 2
		local pos_min_safe = (max_stroke * 0.05)
		local pos_max_safe = (max_stroke * 0.95)
		
		-- is UI functions present? 
		local z3api = z3e.getinfo("engine")
		isZ3UIRuntimePresent = false
		if z3api == "extended" then isZ3UIRuntimePresent = true end

		-- go home position
		dev.gohome()
		dev.submitcheck()
		z3e.sleep(100)

		-- go center position
		dev.gocenter()
		dev.submitcheck()
		z3e.sleep(100)

		local move=0
		local c=0
		while(c<30) do

			c=c+1

			for i=pos_center, pos_max_safe do
				if(i%2)==0 then
					move=i
				else
					move=5+i
				end

				if(move<pos_min_safe) then
					move = pos_min_safe
				end

				if(move>pos_max_safe) then
					move = pos_max_safe
				end

				print(string.format("move: %.2f\n", move))

				dev.goposition(move)

				dev.submit()

				z3e.sleep(1)
			end
		end	
		-- return to center position
		dev.gocenter();
		dev.submitcheck();
		z3e.sleep(100);
	end

	-- notify device extension
	dev.terminate()

	print("Test Done!")
end

function z3close()
  -- catch the close event sent by z3 runtime to make sure 
  -- the com is closed properly when you exit the app
  dev.terminate()
end

-- run test
full_test_device()