MechaWare C++ API (MechaWare 04.02.xx)
The MechaWare API is a C++ programming interface that is used with MechaWare. The API provides an interface to the controller for configuring your MechaWare blocks after they have been downloaded.
All MechaWare objects are declared in MechaWare.h and reside in the mechaware namespace.
Objects
The MechaWare object is the top level object in the MechaWare C++ API. It is a container for the Model objects, and it is the only object that should be created directly by user applications
The Model object in MechaWare firmware is analogous to the Filter object in non-MechaWare firmware. In its simplest form, it contains the control algorithm for a single Axis / Motor, while it can be extended to more complicated control loops. The Model object is a container for the Block objects.
The Block object in MechaWare firmware is the basis for control loops in MechaWare. It can be a summation block, a PID block, a state space observer, etc.