ScView.c -- Display commutation parameters
/* ScView.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.
*/
/*
:Display commutation parameters
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.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
/* Command line arguments and defaults */
long motorNumber = 0;
Arg argList[] = {
{ "-motor", ArgTypeLONG, &motorNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
char *modeLabel[] = {
"MPIXmpCommModeNONE",
"MPIXmpCommModeCLOSED_LOOP",
"MPIXmpCommModeOPEN_LOOP",
"MPIXmpCommModeSIMULATE",
};
int
main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPIMotor motor; /* motor */
MPIMotorConfig motorConfig; /* motor config structure */
long returnValue; /* return value from library */
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
&controlType,
&controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc) {
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex) {
argIndex = argIndexNew;
break;
}
else {
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if ((argIndex < argc) ||
(motorNumber >= MPIXmpMAX_Motors)) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-motor # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Motors - 1);
exit(MPIMessageARG_INVALID);
}
/* Create motion controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
/* Create motor object using motorNumber */
motor =
mpiMotorCreate(control,
motorNumber);
msgCHECK(mpiMotorValidate(motor));
returnValue =
mpiMotorConfigGet(motor,
NULL,
&motorConfig);
msgCHECK(returnValue);
printf("Motor %ld:\n",
motorNumber);
printf("\tCommutation Mode = %ld (%s)\n",
motorConfig.Commutation.Mode,
modeLabel[motorConfig.Commutation.Mode]);
printf("\tCommutation Length = %ld\n",
motorConfig.Commutation.Length);
printf("\tCommutation Scale = %f\n",
motorConfig.Commutation.Scale);
printf("\tCommutation Phase Delta = %ld\n",
motorConfig.Commutation.PhaseDelta);
printf("\tCommutation Theta = %ld\n",
motorConfig.Commutation.Theta);
if (motorConfig.Commutation.Length != 0) {
double phaseAngle;
long tableIndex;
tableIndex =
((long)(motorConfig.Commutation.Theta *
motorConfig.Commutation.Scale)) &
(MPIXmpCOMM_TABLE_SIZE - 1);
phaseAngle =
(double)tableIndex * 360.0/
(double)MPIXmpCOMM_TABLE_SIZE;
printf("\tPhase angle = %lf degrees\n",
phaseAngle);
}
/* Delete objects */
returnValue = mpiMotorDelete(motor);
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
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