quickStart1.c -- Simple point to point motion program for Quick Start
procedure.
/* quickStart1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Simple point to point motion program for Quick Start procedure.
This is a simple program to demonstrate how to start a trapezoidal profile
motion on a single axis. There is a minimal error checking in this sample.
This program presumes the controller is configured so the motors can move
safely.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define MOTION_NUMBER (0)
#define AXIS_NUMBER (0)
#define END_POSITION (1000)
#define VELOCITY (1000)
#define ACCELERATION (5000)
#define DECELERATION (5000)
/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Parse command line for Control type and address */
argIndex = argControl(argc, argv, controlType, controlAddress);
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
exit(MPIMessageARG_INVALID);
}
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisNumber)
{
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create axis object */
*axis =
mpiAxisCreate(*control,
axisNumber);
msgCHECK(mpiAxisValidate(*axis));
/* Create motion supervisor object with axis */
*motion =
mpiMotionCreate(*control,
motionNumber, /* motion supervisor number */
*axis); /* axis object handle */
msgCHECK(mpiMotionValidate(*motion));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis)
{
long returnValue;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
*motion = MPIHandleVOID;
/* Delete axis object */
returnValue =
mpiAxisDelete(*axis);
msgCHECK(returnValue);
*axis = MPIHandleVOID;
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Display positions while waiting for the motion to be done */
void displayPositionsUntilMotionDone(MPIMotion motion)
{
MPIStatus status;
double actual;
double command;
long motionDone;
long returnValue;
/* Poll status until motion done */
motionDone = FALSE;
while (motionDone == FALSE) {
/* Get the motion supervisor status */
returnValue =
mpiMotionStatus(motion,
&status,
NULL);
msgCHECK(returnValue);
/* Display position */
mpiMotionPositionGet(motion,
&actual,
&command);
msgCHECK(returnValue);
printf("Axis[0] Positions: Cmd %11.3lf\tAct %11.3lf\r",
command,
actual);
switch (status.state) {
case MPIStateSTOPPING:
case MPIStateMOVING: {
/* Sleep for 20ms and give up control to other threads */
meiPlatformSleep(20);
break;
}
case MPIStateIDLE:
case MPIStateSTOPPED:
case MPIStateERROR:
case MPIStateSTOPPING_ERROR: {
/* Motion is done */
motionDone = TRUE;
break;
}
default: {
/* Unknown State */
fprintf(stderr, "Unknown state from mpiMotionStatus.\n");
msgCHECK(MPIMessageFATAL_ERROR);
break;
}
}
}
}
/* Perform a trapezoidal move */
void trapMove(MPIMotion motion,
MPITrajectory *trajectory,
double position)
{
MPIMotionParams params; /* Motion parameters */
MPIStatus status; /* Status handle */
long returnValue;
params.trapezoidal.trajectory = trajectory;
params.trapezoidal.position = &position;
/* Read motion status */
returnValue =
mpiMotionStatus(motion,
&status,
NULL);
msgCHECK(returnValue);
switch (status.state)
{
case MPIStateIDLE:
case MPIStateSTOPPED:
{
/* Start motion */
returnValue =
mpiMotionStart(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
break;
}
case MPIStateSTOPPING:
case MPIStateMOVING:
{
/* Modify the executing motion profile */
returnValue =
mpiMotionModify(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
break;
}
case MPIStateERROR:
{
/* Error State */
msgCHECK(MPIMotionMessageERROR);
break;
}
default:
{
/* Unknown State */
fprintf(stderr, "Unknown state from mpiMotionStatus.\n");
msgCHECK(MPIMessageFATAL_ERROR);
break;
}
}
}
/* setup move parameters, poll until motion done, start move */
void commandMoves(MPIMotion motion,
double endPosition,
double velocity,
double acceleration,
double deceleration)
{
MPITrajectory trajectory; /* trajectory information */
double command; /* command position */
double position; /* target position */
long returnValue; /* MPI return value */
/* Set up trajectory information */
trajectory.velocity = velocity;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
printf("Press any key to exit...\n\n");
/* Loop until the user presses a key */
while (meiPlatformKey(MPIWaitPOLL) < 0) {
/* Get command position */
returnValue =
mpiMotionPositionGet(motion,
NULL,
&command);
msgCHECK(returnValue);
if (command != 0.0) {
position = 0.0;
}
else {
position = endPosition;
}
/* Perform a trapezoidal move */
trapMove(motion,
&trajectory,
position);
/* Display positions while waiting for the motion to be done */
displayPositionsUntilMotionDone(motion);
}
printf("\n");
}
int main(int argc,
char *argv[])
{
MPIControl control; /* motion controller object handle */
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion; /* motion object handle */
MPIAxis axis; /* axis object handle */
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
MOTION_NUMBER,
&axis,
AXIS_NUMBER);
/* Command some moves */
commandMoves(motion,
END_POSITION,
VELOCITY,
ACCELERATION,
DECELERATION);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
&axis);
return MPIMessageOK;
}
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