long mpiFilterIntegratorReset(MPIFilter filter)

Required Header: stdmpi.h

/* Enable the amplifier for every motor attached to a motion supervisor */
void motionAmpEnable(MPIMotion	motion) 
{
	MPIControl		control;
	MPIAxis			axis;
	MPIMotor		motor;
	MPIFilter		filter;
	MPIObjectMap	map;
	MPIObjectMap	motionMotorMap;
	long			motorIndex;
	long			filterIndex;
	long			returnValue;
	double			position;
	long			enableState;


	/* Get the controller handle */
	control = mpiMotionControl(motion);

	for (axis =  mpiMotionAxisFirst(motion);
		 axis != MPIHandleVOID;
		 axis =  mpiMotionAxisNext(motion, axis)) {

		/* Get the object map for the motors */
		returnValue = mpiAxisMotorMapGet(axis, &map);
		msgCHECK(returnValue);

		/* Add map to motionMotorMap */
		motionMotorMap |= map;
	}

	/* For every motor ... */
	for (motorIndex = 0; motorIndex < MEIXmpMAX_Motors; motorIndex++) {

		if (mpiObjectMapBitGET(motionMotorMap, motorIndex)) {

			/* Create motor handle */
			motor = mpiMotorCreate(control, motorIndex);
			msgCHECK(mpiMotorValidate(motor));

			/* Get the state of the amplifier */
			returnValue = mpiMotorAmpEnableGet(motor, &enableState);
			msgCHECK(returnValue);

			/* If the amplifier is disabled ... */
			if (enableState == FALSE) {

				/* For every axis */
				for (axis =  mpiMotionAxisFirst(motion);
					 axis != MPIHandleVOID;
					 axis =  mpiMotionAxisNext(motion, axis)) {

					/* Get the object map for the motors */
					returnValue = mpiAxisMotorMapGet(axis, &map);
					msgCHECK(returnValue);

					/* If axis is attached to motor ... */
					if (mpiObjectMapBitGET(map, motorIndex)) {

						/* Get the actual position of the axis */
						returnValue = mpiAxisActualPositionGet(axis, &position);
						msgCHECK(returnValue);

						/* Set command position equal to actual position */
						returnValue = mpiAxisCommandPositionSet(axis, position);
						msgCHECK(returnValue);
					}
				}

				/* Get the object map for the filters */
				returnValue = mpiMotorFilterMapGet(motor, &map);
				msgCHECK(returnValue);

				/* For every filter ... */
				for (filterIndex = 0;
					 filterIndex < MEIXmpMAX_Filters;
					 filterIndex++) {

					if (mpiObjectMapBitGET(map, filterIndex)) {

						/* Create filter handle */
						filter = mpiFilterCreate(control, filterIndex);
						msgCHECK(mpiFilterValidate(filter));

						/* Reset integrator */
						returnValue = mpiFilterIntegratorReset(filter);
						msgCHECK(returnValue);

						/* Delete filter handle */
						returnValue = mpiFilterDelete(filter);
						msgCHECK(returnValue);
					}
				}

				/* Enable the amplifier */
				returnValue = mpiMotorAmpEnableSet(motor, TRUE);
				msgCHECK(returnValue);
			}

			/* Delete motor handle */
			returnValue = mpiMotorDelete(motor);
			msgCHECK(returnValue);
		}
	}
}