mpiPathMotionParamsGenerate

Declaration

	long mpiPathMotionParamsGenerate(MPIPath path, MPIMotionParams *params);
	Required Header: stdmpi.h

Description

mpiPathMotionParamsGenerate calculates a list of points from the path object and writes them into the motion params structure pointed to by params. After the motion params are generated, they can be passed to mpiMotionStart(...). Path generated params are supported with the following motion types:
        MPIMotionTypePT
        MPIMotionTypePTF
        MPIMotionTypePVT
        MPIMotionTypePVTF
        MPIMotionTypeSPLINE
        MPIMotionTypeBESSEL
        MPIMotionTypeBSPLINE
        MPIMotionTypeBSPLINE2

To create a path, use mpiPathCreate(...) to create a path object. Initialize the path parameters with mpiPathParamsGet(...) / mpiPathParamsSet(...). Then add path elements (line, arc, etc.) with mpiPathAppend(...). Before calling mpiPathMotionParamsGenerate(...) make sure to specify the MPIMotionPoint{...} values in the MPIMotionParams structure. It is very important to set point.final = TRUE or FALSE before calling mpiPathMotionParamsGenerate(...).

path	a handle to a Path object
*params	a pointer to a MPIMotionParams structure.

Return Values
MPIMessageOK