long mpiMotorMemory(MPIMotor  motor,
                    void      **memory) 

/* motorDemandGet(...) demonstrates how to read the primary and 
auxiliary motor demand signals. mpiMotorMemory(...) obtains the 
motor control memory pointer. The pointer's address is then 
passed into mpiMotorMemoryGet(...) to obtain the demand values. 
Note: MEIXmpMotor *memory must be casted as (void *) in 
mpiMotorMemory.
*/

long motorDemandGet(MPIMotor  motor, 
                    float     *primary, 
                    float     *aux)
{


    MEIXmpMotor    *memory;
    long           returnValue;

    /* Get motor control memory pointer */
    returnValue = 
    mpiMotorMemory(motor, 
                  (void *)&memory);

    /* Get primary motor demand value */
    if(returnValue == MPIMessageOK)
    {
        returnValue = 
            mpiMotorMemoryGet(motor,
                              primary,
                              &memory->IO.Demand.Channel[0].Level,
                              sizeof(memory->IO.Demand.Channel[0].Level));
    }

    /* Get auxiliary motor demand value */
    if(returnValue == MPIMessageOK)
    {
        returnValue = 
            mpiMotorMemoryGet(motor,
                              aux,
                              &memory->IO.Demand.Channel[1].Level,
                              sizeof(memory->IO.Demand.Channel[1].Level)); 
    }
    return returnValue;
}