home1.c -- Simple Homing routine that captures the hardware position,
sets the origin
/* home1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Simple Homing routine that captures the hardware position, sets the origin
and moves back to home.
home1.c allows the user to trigger his home off an input or index
pulse, capture the hardware position, set the origin and then move back
to that home position.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
/* MPI Object numbers */
#define MOTION_NUMBER (0)
#define AXIS_NUMBER (0)
#define MOTOR_NUMBER (0)
#define CAPTURE_COUNT (1) /* Enabled Capture count */
#define CAPTURE_NUMBER (0) /* Capture object number */
#define CAPTURE_INDEX (0) /* Index to capture engine */
/* Motion Parameters */
#define VELOCITY (5000) /* Move velocity */
#define ACCELERATION (10000) /* Move acceleration */
#define DECELERATION (10000) /* Move deceleration */
/* CAPTURE_EDGE can be any MPICaptureEdge */
#define CAPTURE_EDGE (MPICaptureEdgeFALLING) /* Capture on falling edge */
/* CAPTURE_SOURCE can be any MPICaptureSource */
#define CAPTURE_SOURCE (MPICaptureSourceHOME) /* Capture on home input */
/* CAPTURE_TYPE can be any MPICaptureType */
#define CAPTURE_TYPE (MPICaptureTypePOSITION) /* hardware position latch */
/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Parse command line for Control type and address */
argIndex = argControl(argc, argv, controlType, controlAddress);
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr, "usage: %s %s\n", argv[0], ArgUSAGE);
exit(MPIMessageARG_INVALID);
}
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotion *motion,
long motionNumber,
MPIAxis *axis,
long axisNumber,
MPIMotor *motor,
long motorNumber,
MPICapture *capture,
long captureNumber,
long captureCount)
{
MPIControlConfig controlConfig;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create axis object */
*axis =
mpiAxisCreate(*control,
axisNumber);
msgCHECK(mpiAxisValidate(*axis));
/* Create motion supervisor object with axis */
*motion =
mpiMotionCreate(*control,
motionNumber,
*axis);
msgCHECK(mpiMotionValidate(*motion));
/* Create motor object */
*motor =
mpiMotorCreate(*control,
motorNumber);
msgCHECK(mpiMotorValidate(*motor));
/* Enable capture objects */
returnValue =
mpiControlConfigGet(*control,
&controlConfig,
NULL);
msgCHECK(returnValue);
controlConfig.captureCount = captureCount;
returnValue =
mpiControlConfigSet(*control,
&controlConfig,
NULL);
msgCHECK(returnValue);
/* Create capture object */
*capture =
mpiCaptureCreate(*control,
captureNumber);
msgCHECK(mpiCaptureValidate(*capture));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotion *motion,
MPIAxis *axis,
MPIMotor *motor,
MPICapture *capture)
{
long returnValue;
/* Delete capture object */
returnValue =
mpiCaptureDelete(*capture);
msgCHECK(returnValue);
*capture = MPIHandleVOID;
/* Delete motor object */
returnValue =
mpiMotorDelete(*motor);
msgCHECK(returnValue);
*motor = MPIHandleVOID;
/* Delete motion supervisor object */
returnValue =
mpiMotionDelete(*motion);
msgCHECK(returnValue);
*motion = MPIHandleVOID;
/* Delete axis object */
returnValue =
mpiAxisDelete(*axis);
msgCHECK(returnValue);
*axis = MPIHandleVOID;
/* Delete motion controller object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/*
Configure caputure object
edge: 0 for falling edge, 1 for rising edge
*/
void configureCapture(MPICapture capture,
MPICaptureSource source,
MPICaptureEdge edge,
MPICaptureType type,
long motorNumber,
long captureIndex)
{
MPICaptureConfig captureConfig;
long returnValue;
/* Disable capture */
returnValue =
mpiCaptureArm(capture,
FALSE);
msgCHECK(returnValue);
/*
Clear out capture registers before modifiying them.
This keeps from unintentionally combining capture triggers.
*/
returnValue = mpiCaptureConfigReset(capture);
msgCHECK(returnValue);
/* Read capture configuration */
returnValue =
mpiCaptureConfigGet(capture,
&captureConfig,
NULL);
msgCHECK(returnValue);
/* Set capture parameters */
captureConfig.source[source].enabled = TRUE;
captureConfig.source[source].invert = FALSE;
captureConfig.edge = edge;
captureConfig.type = type;
captureConfig.captureMotorNumber = motorNumber;
captureConfig.feedbackMotorNumber = motorNumber;
captureConfig.encoder = MPIMotorEncoderPRIMARY;
captureConfig.captureIndex = captureIndex;
/* Write capture configuration */
returnValue =
mpiCaptureConfigSet(capture,
&captureConfig,
NULL);
msgCHECK(returnValue);
}
/* Configure Home Event action */
void configureHomeAction(MPIMotor motor,
MPIAction action,
long activeHigh)
{
MPIMotorLimitConfig eventConfig;
MPIEventMask eventMask;
long returnValue;
/* Read home event configuration */
returnValue =
mpiMotorEventConfigGet(motor,
MPIEventTypeHOME,
&eventConfig,
NULL);
msgCHECK(returnValue);
/* Configure Home Event action */
eventConfig.action = action;
eventConfig.trigger.polarity = activeHigh;
/* Write home event configuration */
returnValue =
mpiMotorEventConfigSet(motor,
MPIEventTypeHOME,
&eventConfig,
NULL);
msgCHECK(returnValue);
/* Reset Home Event */
mpiEventMaskCLEAR(eventMask);
mpiEventMaskSET(eventMask, MPIEventTypeHOME);
returnValue =
mpiMotorEventReset(motor,
eventMask);
msgCHECK(returnValue);
}
/* Command simple trapezoidal motion */
void simpleVelocityMove(MPIMotion motion,
double velocity,
double acceleration,
double deceleration)
{
MPIMotionParams params; /* Motion parameters */
MPITrajectory trajectory; /* Trajectory information */
long returnValue; /* MPI library return value */
/* Setup trajectory structure */
trajectory.velocity = velocity;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
trajectory.jerkPercent = 0.0; /* Trapezoidal profile */
/* Setup parameters structure */
params.velocity.trajectory = &trajectory;
/* Start motion */
returnValue =
mpiMotionStart(motion,
MPIMotionTypeVELOCITY,
¶ms);
msgCHECK(returnValue);
}
/* Command simple trapezoidal motion */
void simpleTrapMove(MPIMotion motion,
double goalPosition,
double velocity,
double acceleration,
double deceleration)
{
MPIMotionParams params; /* Motion parameters */
MPITrajectory trajectory; /* Trajectory information */
long returnValue; /* MPI library return value */
/* Setup trajectory structure */
trajectory.velocity = velocity;
trajectory.acceleration = acceleration;
trajectory.deceleration = deceleration;
/* Setup parameters structure */
params.trapezoidal.trajectory = &trajectory;
params.trapezoidal.position = &goalPosition;
/* Start motion */
returnValue =
mpiMotionStart(motion,
MPIMotionTypeTRAPEZOIDAL,
¶ms);
msgCHECK(returnValue);
}
/* Display caputure status while waiting for the motion to be done */
void displayCaptureStatusUntilMotionDone(MPIMotion motion,
MPICapture capture,
MPICaptureStatus *captureStatus)
{
MPIStatus status;
long motionDone;
long returnValue;
/* Poll status until motion done */
motionDone = FALSE;
while (motionDone == FALSE) {
/* Get the capture status */
returnValue =
mpiCaptureStatus(capture,
captureStatus,
NULL);
msgCHECK(returnValue);
printf("CaptureState:0x%x\r",
captureStatus->state);
/* Get the motion supervisor status */
returnValue =
mpiMotionStatus(motion,
&status,
NULL);
msgCHECK(returnValue);
switch (status.state) {
case MPIStateSTOPPING:
case MPIStateMOVING: {
/* Sleep for 20ms and give up control to other threads */
mpiPlatformSleep(20);
break;
}
case MPIStateIDLE:
case MPIStateERROR:
case MPIStateSTOPPED:
case MPIStateSTOPPING_ERROR: {
/* Motion is done */
motionDone = TRUE;
break;
}
default: {
/* Unknown State */
fprintf(stderr, "Unknown state from mpiMotionStatus.\n");
msgCHECK(MPIMessageFATAL_ERROR);
break;
}
}
}
/* Display latched position */
printf("\nLatched Home Position = %d\n",
(long)captureStatus->latchedValue);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIAxis axis;
MPIMotor motor;
MPICapture capture;
MPICaptureStatus captureStatus;
long returnValue; /* Return value from library */
/* The number of enabled captures must be greater than the id number of the capture used */
mpiAssert(CAPTURE_COUNT>CAPTURE_NUMBER);
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motion,
MOTION_NUMBER,
&axis,
AXIS_NUMBER,
&motor,
MOTOR_NUMBER,
&capture,
CAPTURE_NUMBER,
CAPTURE_COUNT);
/* Configure capture */
configureCapture(capture,
CAPTURE_SOURCE,
CAPTURE_EDGE,
CAPTURE_TYPE,
MOTOR_NUMBER,
CAPTURE_INDEX);
/* Configure Home Event action to stop */
configureHomeAction(motor,
MPIActionSTOP,
TRUE); /* Active High */
/* Arm the capture */
returnValue =
mpiCaptureArm(capture,
TRUE);
msgCHECK(returnValue);
printf("Looking for home...\n");
/* Start a velocity move */
simpleVelocityMove(motion,
VELOCITY,
ACCELERATION,
DECELERATION);
/* Display caputure status while waiting for the motion to be done */
displayCaptureStatusUntilMotionDone(motion,
capture,
&captureStatus);
/* Set origin to home position */
returnValue =
mpiAxisOriginSet(axis,
captureStatus.latchedValue);
msgCHECK(returnValue);
printf("Moving back to origin.\n");
/* Configure Home Event action to none */
configureHomeAction(motor,
MPIActionNONE,
TRUE);
/* Move back to home */
simpleTrapMove(motion,
0.0, /* Go back to home position */
VELOCITY,
ACCELERATION,
DECELERATION);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motion,
&axis,
&motor,
&capture);
return ((int)returnValue);
}
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