stoprate.c -- Set deceleration rate for MPIActionSTOP and MPIActionE_STOP.
/* stoprate.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.
*/
/*
:Set deceleration rate for MPIActionSTOP and MPIActionE_STOP.
This sample code demonstrates how to configure the MPIActionSTOP and
MPIActionE_STOP deceleration rates for a given Motion objectr. Unless
specified at the command line, the DEFAULT deceleration rates will be used.
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"
#if defined(ARG_MAIN_RENAME)
#define main stoprateMain
argMainRENAME(main, stoprate)
#endif
/* Define STOP and ESTOP rates in seconds */
#define STOP_RATE_DEFAULT ((float)3.0)
#define ESTOP_RATE_DEFAULT ((float)1.0)
/* Command line arguments and defaults */
long motionNumber = 0;
float stopRate = STOP_RATE_DEFAULT;
float eStopRate = ESTOP_RATE_DEFAULT;
Arg argList[] = {
{ "-motion", ArgTypeLONG, &motionNumber, },
{ "-stop", ArgTypeFLOAT, &stopRate, },
{ "-estop", ArgTypeFLOAT, &eStopRate, },
{ NULL, ArgTypeINVALID, NULL, }
};
int
main(int argc,
char *argv[])
{
MPIControl control; /* Motion controller handle */
MPIMotion motion; /* Motion supervisor handle */
MPIMotionConfig motionConfig; /* Motion supervisor configuration */
long returnValue; /* Return value from library */
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
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) ||
(motionNumber >= MPIXmpMAX_MSs)) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-motion # (0 .. %d)]\n"
"\t\t[-stop (%f)]\n"
"\t\t[-estop (%f)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_MSs - 1,
STOP_RATE_DEFAULT,
ESTOP_RATE_DEFAULT);
exit(MPIMessageARG_INVALID);
}
/* Create controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
/* Create motion object */
motion =
mpiMotionCreate(control,
motionNumber,
MPIHandleVOID);
msgCHECK(mpiMotionValidate(motion));
/* Read current motion supervisor configuration */
returnValue =
mpiMotionConfigGet(motion,
&motionConfig,
NULL);
msgCHECK(returnValue);
printf("OLD: motion %d: stopRate %f eStopRate %f\n",
motionNumber,
motionConfig.decelTime.stop,
motionConfig.decelTime.eStop);
/* Set new STOP and E_STOP deceleration rates */
motionConfig.decelTime.stop = stopRate;
motionConfig.decelTime.eStop = eStopRate;
returnValue =
mpiMotionConfigSet(motion,
&motionConfig,
NULL);
msgCHECK(returnValue);
printf("NEW: motion %d: stopRate %f eStopRate %f\n",
motionNumber,
stopRate,
eStopRate);
/* Delete objects */
returnValue = mpiMotionDelete(motion);
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
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