long mpiMotorFeedback(MPIMotor           motor,
                      MPIMotorFeedback   *feedback)

/* Display both primary and secondary feedback value */
void displayMotorFeedback(MPIMotor motor)
{
   MPIMotorFeedback  feedback;
   long              returnValue;

   /* Get motor’s feedback position and write it to feedback */
   returnValue = mpiMotorFeedback(motor, &feedback);
   msgCHECK(returnValue);

   /* Print out primary and secondary feedback */
   printf("Primary feedback value %lf\n", 
           feedback[MPIMotorEncoderPRIMARY]);
   printf("Secondary feedback value %lf\n", 
           feedback[MPIMotorEncoderSECONDARY]);
}