amtec: amtec: amtec_commands.h Source File

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00036  
00037 #ifndef AMTEC_COMMANDS
00038 #define AMTEC_COMMANDS
00039 
00040 #include "amtec_base.h"
00041 
00042 #ifdef __cplusplus
00043 extern "C" {
00044 #endif
00045 
00046 /*
00047  * General Commands
00048  */
00049 int amtecReset(amtec_powercube_device_p dev, int id);                        /* Clear error state */
00050 int amtecHome(amtec_powercube_device_p dev, int id);                         /* Start Homing procedure */
00051 int amtecHalt(amtec_powercube_device_p dev, int id);                         /* Stop immediately */
00052 int amtecRecalcPIDParam(amtec_powercube_device_p dev, int id);               /* Recalculate the PID loop parameters */
00053 int amtecResetTime(amtec_powercube_device_p dev, int id);                    /* Reset internal clock to zero */
00054 
00055 /*
00056  * Motion Commands
00057  */
00058 int amtecMotionFRamp(amtec_powercube_device_p dev, int id, float position);   /* Target position in rad */
00059 int amtecMotionFStep(amtec_powercube_device_p dev, int id, float position,    /* Target position in rad */
00060                                                     unsigned short time);      /* Target time in ms */
00061 int amtecMotionFVel(amtec_powercube_device_p dev, int id, float velocity);    /* Target velocity in rad/s */
00062 int amtecMotionFCur(amtec_powercube_device_p dev, int id, float current);     /* Target current in amp */
00063 int amtecMotionIRamp(amtec_powercube_device_p dev, int id, int ticks);        /* Target position in encoder ticks */
00064 int amtecMotionIStep(amtec_powercube_device_p dev, int id, int ticks,         /* Target position in encoder ticks */
00065                                                     unsigned short time);      /* Target time in ms */
00066 int amtecMotionIVel(amtec_powercube_device_p dev, int id, int val);           /* Target velocity in encoder ticks/s */
00067 int amtecMotionICur(amtec_powercube_device_p dev, int id, short val);         /* Target current in digits */
00068 int amtecMotionFCosLoop(amtec_powercube_device_p dev, int id, float pos,      /* Target position in rad */
00069                                                     unsigned short period);    /* Target period in ms */
00070 int amtecMotionFRampLoop(amtec_powercube_device_p dev, int id, float val);    /* Target position in rad/s */
00071 
00072 /*
00073  * Retrieve Module Parameters
00074  */
00075 float          amtecGetDefHomeOffset(amtec_powercube_device_p dev, int id);
00076 float          amtecGetDefGearRatio(amtec_powercube_device_p dev, int id);
00077 float          amtecGetDefLinRatio(amtec_powercube_device_p dev, int id);
00078 float          amtecGetDefMinPos(amtec_powercube_device_p dev, int id);
00079 float          amtecGetDefMaxPos(amtec_powercube_device_p dev, int id);
00080 float          amtecGetDefMaxDeltaPos(amtec_powercube_device_p dev, int id);
00081 float          amtecGetDefMaxDeltaVel(amtec_powercube_device_p dev, int id);
00082 float          amtecGetDefTorqueRatio(amtec_powercube_device_p dev, int id);
00083 float          amtecGetDefCurRatio(amtec_powercube_device_p dev, int id);
00084 float          amtecGetDefMaxVel(amtec_powercube_device_p dev, int id);
00085 float          amtecGetDefMaxAcc(amtec_powercube_device_p dev, int id);
00086 float          amtecGetDefMaxCur(amtec_powercube_device_p dev, int id);
00087 float          amtecGetDefHomeVel(amtec_powercube_device_p dev, int id);
00088 float          amtecGetDefHomeAcc(amtec_powercube_device_p dev, int id);
00089 unsigned int   amtecGetDefCubeSerial(amtec_powercube_device_p dev, int id);
00090 unsigned int   amtecGetDefPulsesPerTurn(amtec_powercube_device_p dev, int id);
00091 unsigned int   amtecGetDefConfig(amtec_powercube_device_p dev, int id);
00092 unsigned short amtecGetDefCubeVersion(amtec_powercube_device_p dev, int id);
00093 unsigned short amtecGetDefServiceInterval(amtec_powercube_device_p dev, int id);
00094 unsigned short amtecGetDefBrakeTimeOut (amtec_powercube_device_p dev, int id);
00095 unsigned char  amtecGetDefAddress(amtec_powercube_device_p dev, int id);
00096 unsigned char  amtecGetDefPrimBaud(amtec_powercube_device_p dev, int id);
00097 unsigned char  amtecGetDefScndBaud(amtec_powercube_device_p dev, int id);
00098 int            amtecGetPosCount(amtec_powercube_device_p dev, int id);
00099 int            amtecGetRefPosCount(amtec_powercube_device_p dev, int id);
00100 unsigned int   amtecGetDioSetup(amtec_powercube_device_p dev, int id);
00101 unsigned int   amtecGetCubeState(amtec_powercube_device_p dev, int id);
00102 unsigned int   amtecGetTargetPosInc(amtec_powercube_device_p dev, int id);
00103 unsigned int   amtecGetTargetVelInc(amtec_powercube_device_p dev, int id);
00104 unsigned int   amtecGetTargetAccInc(amtec_powercube_device_p dev, int id);
00105 unsigned int   amtecGetStepInc(amtec_powercube_device_p dev, int id);
00106 
00107 float          amtecGetMinPos(amtec_powercube_device_p dev, int id);
00108 float          amtecGetMaxPos(amtec_powercube_device_p dev, int id);
00109 float          amtecGetMaxVel(amtec_powercube_device_p dev, int id);
00110 float          amtecGetMaxAcc(amtec_powercube_device_p dev, int id);
00111 float          amtecGetMaxCur(amtec_powercube_device_p dev, int id);
00112 float          amtecGetActPos(amtec_powercube_device_p dev, int id);
00113 unsigned int   amtecGetConfig(amtec_powercube_device_p dev, int id);
00114 float          amtecGetActVel(amtec_powercube_device_p dev, int id);
00115 float          amtecGetTargetVel(amtec_powercube_device_p dev, int id);
00116 float          amtecGetTargetAcc(amtec_powercube_device_p dev, int id);
00117 float          amtecGetCur(amtec_powercube_device_p dev, int id);
00118 short          amtecGetActC0(amtec_powercube_device_p dev, int id);
00119 short          amtecGetActDamp(amtec_powercube_device_p dev, int id);
00120 short          amtecGetActA0(amtec_powercube_device_p dev, int id);
00121 
00122 /*
00123  * Set Powercube Module Parameters
00124  */
00125 void           amtecSetMinPos(amtec_powercube_device_p dev, int id, float val);
00126 void           amtecSetMaxPos(amtec_powercube_device_p dev, int id, float val);
00127 void           amtecSetMaxAcc(amtec_powercube_device_p dev, int id, float val);
00128 void           amtecSetMaxVel(amtec_powercube_device_p dev, int id, float val);
00129 void           amtecSetTargetAcc(amtec_powercube_device_p dev, int id, float val);
00130 void           amtecSetTargetVel(amtec_powercube_device_p dev, int id, float val);
00131 void           amtecSetMaxCur(amtec_powercube_device_p dev, int id, float val);
00132 void           amtecSetConfig(amtec_powercube_device_p dev, int id, unsigned int val);
00133 void           amtecSetActC0(amtec_powercube_device_p dev, int id, short val);
00134 void           amtecSetActDamp(amtec_powercube_device_p dev, int id, short val);
00135 void           amtecSetActA0(amtec_powercube_device_p dev, int id, short val);
00136 
00138 // * Special commands
00139 // */
00140 //void           AMTEC_vel_cmd(amtec_powercube_device_p dev, int id, float val);
00141 //void           AMTEC_exec_move(amtec_powercube_device_p dev, int id, float val);
00142 //void           AMTEC_exec_reset(amtec_powercube_device_p dev, int id);
00143 //void           AMTEC_exec_home(amtec_powercube_device_p dev, int id);
00144 //void           AMTEC_exec_halt(amtec_powercube_device_p dev, int id);
00145 //void           AMTEC_recalc_pid(amtec_powercube_device_p dev, int id);
00146 //void           AMTEC_set_velocity(amtec_powercube_device_p dev, int id, float val);
00147 //void           AMTEC_set_acceleration(amtec_powercube_device_p dev, int id, float val);
00148 
00149 #ifdef __cplusplus
00150 }
00151 #endif
00152 
00153 #endif