mpiMotorFeedback

Declaration

int32_t mpiMotorFeedback(MPIMotor                 motor,
                      MPIMotorFeedbackValues   *feedback)

Required Header: stdmpi.h

Description

mpiMotorFeedback gets the feedback position of a Motor (motor) and writes it into the location pointed to by feedback.

motor	A handle to a motor object
*feedback	A pointer to an array of feedback values

Return Values
MPIMessageOK
MPIMotorMessageMOTOR_INVALID

Sample Code

/* Display both primary and secondary feedback value */
void displayMotorFeedback(MPIMotor motor)
{
   MPIMotorFeedbackValues  feedback;
   int32_t                 returnValue;


   /* Get motor's feedback position and write it to feedback */
   returnValue = mpiMotorFeedback(motor, &feedback);
   msgCHECK(returnValue);


   /* Print out primary and secondary feedback */
   printf("Primary feedback value %lf\n", 
           feedback[MPIMotorFeedbackInputPRIMARY]);
   printf("Secondary feedback value %lf\n", 
           feedback[MPIMotorFeedbackInputSECONDARY]);
}