MPIPathParams

Definition

typedef struct MPIPathParams {
    long             dimension;
    MPIPathPoint     start;
    double           velocity;
    double           acceleration;
    double           deceleration;
    MPIMotionType    interpolation;
    double           timeSlice;
    double           conversion 
                     [MPIPathPointDIMENSION_MAX][MPIPathPointDIMENSION_MAX];
} MPIPathParams;

Description

dimension	This value defines the number of axes to coordinate. Please see MPIPathPoint data type documentation for more information.
start	This structure defines the initial point for the path.
velocity	This value defines the speed along the path. The units are in counts per second.
acceleration	This value defines the rate of change of speed to reach the velocity along the path. The units are in counts per second * second.
deceleration	This value defines the rate of change of speed to reach zero velocity along the path. The units are in counts per second * second.
interpolation	This value specifies the motion algorithm to generate the path. Please see MPIMotionType data type documentation for more information.
timeSlice	This value specifies the amount of time between points. The units are in seconds. Smaller timeSlice values will improve the path accuracy, but increase the number of points to calculate and buffer.
conversion	This value is an N x N matrix (where N is the number of dimensions in the path motion) that scales and rotates the axes used in the path motion. This is useful when using two axes with different resolutions for each axis. For two axes with different resolution: Set conversion[0][0] to (desired x resolution / actual x resolution) Set conversion [1][1] to (desired y resolution / actual y resolution) Set conversion[0][1] and conversion[1][0] = 0 For a coordinate rotation, where alpha is the rotation of the coordinate system: Set conversion[0][0] and conversion [1][1] = cos(alpha) Set conversion[0][1] = sin(alpha) Set conversion[1][0] = -sin(alpha)