azompas
diff --git a/‎.directory
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diff --git a/‎Command.o
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diff --git a/‎CommandDownload.o
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diff --git a/‎CommandMaster.o
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diff --git a/‎CommandSdos.o
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diff --git a/‎CommandUpload.o
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diff --git a/‎DataTypeHandler.o
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diff --git a/‎Epos3ReadWriteLib.cpp
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diff --git a/‎Epos3ReadWriteLib.h
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diff --git a/‎Epos3ReadWriteLib.o
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diff --git a/‎Espos3_Control_GUI
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diff --git a/‎Espos3_Control_GUI.pro
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diff --git a/‎Espos3_Control_GUI.pro.user
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diff --git a/‎LICENSE
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diff --git a/‎Makefile
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diff --git a/‎MasterDevice.o
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diff --git a/‎NumberListParser.o
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diff --git a/‎README.md
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diff --git a/‎SdoCommand.o
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diff --git a/‎epos3.cpp
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diff --git a/‎epos3.h
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diff --git a/‎epos3.o
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diff --git a/‎epos3.ui
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diff --git a/‎jaymi-tool-v1.pro
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diff --git a/‎main.cpp
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diff --git a/‎main.h
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diff --git a/‎main.o
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diff --git a/‎moc_epos3.cpp
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diff --git a/‎moc_epos3.o
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diff --git a/‎too-temp3.pro
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diff --git a/‎ui_epos3.h
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@@ -148,3 +148,22 @@ int Epos3ReadWriteLib::sendDownloadCommand(string positionStr, string regStr, st
 
 		return retval;
 }
+
+void moveMotor( int newtargerPosition, int profileVelocity )
+{
+    char temp[11];
+    string pos;
+    string newVel;
+
+    sprintf(temp,"%x",newtargerPosition);
+    pos = "0x" + string(temp);
+
+
+    sprintf(temp,"%x",profileVelocity);
+    newVel = "0x" + string(temp);
+
+    sendDownloadCommand("0", "0x607A", "0", "uint32",pos);
+    sendDownloadCommand("0", "0x6081", "0", "uint32",newVel);
+    sendDownloadCommand("0", "0x6040", "0", "uint16","0x006f");
+    sendDownloadCommand("0", "0x6040", "0", "uint16","0x007f");
+}
@@ -40,6 +40,7 @@ string skin;
 void initEPOS3();
 int sendUploadCommand(string, string, string, string);
 int sendDownloadCommand(string, string, string, string, string);
+void moveMotor( int, int );
 
 };
 /*****************************************************************************/
@@ -31,7 +31,25 @@ void epos3::on_pushButton_9_clicked()
     epos3Lib.initEPOS3();
 
 }
+void epos3::on_pushButton_3_clicked()
+{
+    epos3Lib.sendDownloadCommand("0","0x6040","0","uint16","0x017f");
+}
+
+void epos3::on_pushButton_5_clicked()
+{
+    epos3Lib.sendDownloadCommand("0","0x6040","0","uint16","0x02");
+}
 
+void epos3::on_pushButton_7_clicked()
+{
+    epos3Lib.sendDownloadCommand("1","0x6040","0","uint16","0x017f");
+}
+
+void epos3::on_pushButton_8_clicked()
+{
+    epos3Lib.sendDownloadCommand("1","0x6040","0","uint16","0x02");
+}
 void epos3::on_pushButton_10_clicked()
 {
     int index,motor0, motor1;