Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 255 | f9daq | 1 | /* |
| 2 | |||
| 3 | usmc_ctrl -a |
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| 4 | usmc_ctrl -n 0 -i |
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| 5 | usmc_ctrl -n 0 -p 1 -s 5000 -m 10000 - p 0 |
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| 6 | usmc_ctrl -n 0 -p 1 -h -p 0 |
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| 7 | |||
| 8 | |||
| 9 | */ |
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| 10 | #include <stdlib.h> |
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| 11 | #include <stdio.h> |
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| 12 | #include <string.h> |
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| 13 | |||
| 14 | #ifndef _WINDOWS |
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| 15 | # include "libusmc.h" |
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| 16 | # include <getopt.h> |
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| 17 | # define Delay(x) usleep((int)(x*1000000)) |
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| 18 | #else |
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| 19 | # include "USMCDLL.H" |
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| 20 | # include <utility.h> |
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| 21 | # include <ansi_c.h> |
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| 22 | |||
| 23 | #define ERR(s, c) if(opterr) fprintf(stderr,"%s %c\n",s,c); |
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| 24 | |||
| 25 | |||
| 26 | int opterr = 1; |
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| 27 | int optind = 1; |
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| 28 | int optopt; |
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| 29 | char *optarg; |
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| 30 | |||
| 31 | int getopt(int argc, char **argv, char *opts){ |
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| 32 | static int sp = 1; |
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| 33 | int c; |
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| 34 | char *cp; |
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| 35 | |||
| 36 | if(sp == 1) |
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| 37 | if(optind >= argc || |
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| 38 | argv[optind][0] != '-' || argv[optind][1] == '\0') |
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| 39 | return(EOF); |
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| 40 | else if(strcmp(argv[optind], "--") == NULL) { |
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| 41 | optind++; |
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| 42 | return(EOF); |
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| 43 | } |
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| 44 | optopt = c = argv[optind][sp]; |
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| 45 | if(c == ':' || (cp=strchr(opts, c)) == NULL) { |
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| 46 | ERR(": illegal option -- ", c); |
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| 47 | if(argv[optind][++sp] == '\0') { |
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| 48 | optind++; |
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| 49 | sp = 1; |
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| 50 | } |
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| 51 | return('?'); |
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| 52 | } |
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| 53 | if(*++cp == ':') { |
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| 54 | if(argv[optind][sp+1] != '\0') |
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| 55 | optarg = &argv[optind++][sp+1]; |
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| 56 | else if(++optind >= argc) { |
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| 57 | ERR(": option requires an argument -- ", c); |
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| 58 | sp = 1; |
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| 59 | return('?'); |
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| 60 | } else |
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| 61 | optarg = argv[optind++]; |
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| 62 | sp = 1; |
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| 63 | } else { |
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| 64 | if(argv[optind][++sp] == '\0') { |
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| 65 | sp = 1; |
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| 66 | optind++; |
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| 67 | } |
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| 68 | optarg = NULL; |
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| 69 | } |
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| 70 | return(c); |
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| 71 | } |
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| 72 | |||
| 73 | #endif |
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| 74 | |||
| 75 | #define MAXNODES 4 |
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| 76 | USMC_Devices devices; |
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| 77 | USMC_StartParameters parstart[MAXNODES]; |
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| 78 | USMC_Parameters parameters[MAXNODES]; |
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| 79 | USMC_State parstate[MAXNODES]; |
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| 80 | USMC_EncoderState parencstate[MAXNODES]; |
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| 81 | #define ERRLEN 128 |
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| 82 | char errstr[ERRLEN]; |
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| 83 | |||
| 84 | // Function that prints information about device parameters to console |
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| 85 | void print_parameters(USMC_Parameters *Parameters) |
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| 86 | { |
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| 87 | printf( "The parameters are:\n" ); |
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| 88 | printf( "Full acceleration time - %.0f ms\n", (double) Parameters->AccelT ); |
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| 89 | printf( "Full deceleration time - %.0f ms\n", (double) Parameters->DecelT ); |
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| 90 | printf( "Power reduction timeout - %.0f ms\n", (double) Parameters->PTimeout ); |
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| 91 | printf( "Button speedup timeout 1 - %.0f ms\n", (double) Parameters->BTimeout1 ); |
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| 92 | printf( "Button speed after timeout 1 - %.2f steps/s\n", (double) Parameters->BTO1P ); |
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| 93 | printf( "Button speedup timeout 2 - %.0f ms\n", (double) Parameters->BTimeout2 ); |
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| 94 | printf( "Button speed after timeout 2 - %.2f steps/s\n", (double) Parameters->BTO2P ); |
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| 95 | printf( "Button speedup timeout 3 - %.0f ms\n", (double) Parameters->BTimeout3 ); |
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| 96 | printf( "Button speed after timeout 3 - %.2f steps/s\n", (double) Parameters->BTO3P ); |
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| 97 | printf( "Button speedup timeout 4 - %.0f ms\n", (double) Parameters->BTimeout4 ); |
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| 98 | printf( "Button speed after timeout 4 - %.2f steps/s\n", (double) Parameters->BTO4P ); |
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| 99 | printf( "Button reset timeout - %.0f ms\n", (double) Parameters->BTimeoutR ); |
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| 100 | printf( "Button reset operation speed - %.2f steps/s\n", (double) Parameters->MinP ); |
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| 101 | printf( "Backlash operation distance - %d steps\n", (int)Parameters->MaxLoft ); |
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| 102 | printf( "Revolution distance - %d steps\n", (int)Parameters->RTDelta ); |
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| 103 | printf( "Minimal revolution distance error - %d steps\n", (int)Parameters->RTMinError ); |
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| 104 | printf( "Power off temperature - %.2f\xf8\x43\n", (double)Parameters->MaxTemp ); |
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| 105 | printf( "Duration of the output synchronization pulse - "); |
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| 106 | if(Parameters->SynOUTP == 0) |
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| 107 | printf( "minimal\n"); |
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| 108 | else |
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| 109 | printf( "%.1f * [Tact Period]\n", Parameters->SynOUTP - 0.5); |
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| 110 | printf( "Speed of the last phase of the backlash operation - "); |
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| 111 | if(Parameters->LoftPeriod == 0.0f) |
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| 112 | printf( "normal\n" ); |
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| 113 | else |
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| 114 | printf( "%.2f steps/s\n", (double)Parameters->LoftPeriod ); |
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| 115 | printf( "<Angular Encoder Step> Equals <Angular Step Motor Step>/<%.2f>\n", Parameters->EncMult); |
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| 116 | |||
| 117 | } |
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| 118 | |||
| 119 | // Function that prints information about device start parameters to console |
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| 120 | void print_start_params ( const USMC_StartParameters sp ){ |
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| 121 | printf ( "* Steps Divisor - %d\n", sp.SDivisor ); |
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| 122 | |||
| 123 | if ( sp.SDivisor == 1 ) |
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| 124 | printf ( "* Slow start/stop mode - %s\n", sp.SlStart ? "Enabled" : "Disabled" ); |
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| 125 | else if ( sp.LoftEn ) { |
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| 126 | printf ( "* Automatic backlash operation - Enabled\n" ); |
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| 127 | printf ( "* Automatic backlash operation direction - %s\n", sp.DefDir ? "CCW" : "CW" ); |
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| 128 | printf ( "* Force automatic backlash operation - %s\n", sp.ForceLoft ? "TRUE" : "FALSE" ); |
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| 129 | } else { |
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| 130 | printf ( "* Automatic backlash operation - Disabled\n" ); |
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| 131 | } |
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| 132 | if ( sp.WSyncIN ) |
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| 133 | printf ( "* Controller will wait for input synchronization signal to start\n" ); |
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| 134 | else |
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| 135 | printf ( "* Input synchronization signal ignored \n" ); |
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| 136 | |||
| 137 | printf ( "* Output synchronization counter will %sbe reset\n", sp.SyncOUTR ? "" : "not " ); |
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| 138 | } |
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| 139 | |||
| 140 | // Function that prints information about device state to console |
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| 141 | void print_state(USMC_State *State) |
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| 142 | { |
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| 143 | printf( " The state is:\n" ); |
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| 144 | printf( "- Current Position in microsteps - %d\n", State->CurPos ); |
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| 145 | printf( "- Temperature - %.2f\xf8\x43\n", State->Temp ); |
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| 146 | printf( "- Step Divisor - %d\n", State->SDivisor); |
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| 147 | printf( "- Loft State - %s\n", State->Loft?"Indefinite":"Fixed" ); |
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| 148 | printf( "- Power - %s\n", State->Power?(State->FullPower?"Full":"Half"):"Off" ); |
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| 149 | if(State->RUN) |
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| 150 | printf( "- Step Motor is Running in %s Direction %s\n", |
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| 151 | State->CW_CCW?"CCW":"CW", ((State->SDivisor==1) && State->FullSpeed)?"at Full Speed":"" ); |
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| 152 | else |
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| 153 | printf( "- Step Motor is Not Running\n" ); |
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| 154 | printf( "- Device %s\n", State->AReset?"is After Reset":"Position Already Set" ); |
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| 155 | printf( "- Input Synchronization Logical Pin State - %s\n", State->SyncIN?"TRUE":"FALSE" ); |
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| 156 | printf( "- Output Synchronization Logical Pin State - %s\n", State->SyncOUT?"TRUE":"FALSE" ); |
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| 157 | printf( "- Rotary Transducer Logical Pin State - %s\n", State->RotTr?"TRUE":"FALSE" ); |
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| 158 | printf( "- Rotary Transducer Error Flag - %s\n", State->RotTrErr?"Error":"Clear" ); |
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| 159 | printf( "- Emergency Disable Button - %s\n", State->EmReset?"Pushed":"Unpushed" ); |
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| 160 | printf( "- Trailer 1 Press State - %s\n", State->Trailer1?"Pushed":"Unpushed" ); |
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| 161 | printf( "- Trailer 2 Press State - %s\n", State->Trailer2?"Pushed":"Unpushed" ); |
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| 162 | if( State->Voltage == 0.0f ) |
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| 163 | printf( "- Input Voltage - Low\n"); |
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| 164 | else |
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| 165 | printf( "- Input Voltage - %.1fV\n", State->Voltage); |
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| 166 | |||
| 167 | } |
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| 168 | |||
| 169 | void print_enc_state ( USMC_EncoderState enc_state ) |
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| 170 | { |
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| 171 | printf ( "# The encoder state is:\n" ); |
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| 172 | printf ( "# Current Position in \"Half of Encoder Step\"s - %d\n", enc_state.ECurPos ); |
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| 173 | printf ( "# Encoder Position in \"Half of Encoder Step\"s - %d\n", enc_state.EncoderPos ); |
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| 174 | |||
| 175 | } |
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| 176 | |||
| 177 | |||
| 178 | // Function that prints information about connected devices to console |
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| 179 | void printdevices(USMC_Devices DVS) |
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| 180 | { |
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| 181 | DWORD i; |
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| 182 | for( i = 0; i < DVS.NOD; i++) |
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| 183 | { |
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| 184 | printf("Device - %d,\tSerial Number - %.16s,\tVersion - %.4s\n",i,DVS.Serial[i],DVS.Version[i]); |
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| 185 | } |
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| 186 | } |
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| 187 | |||
| 188 | int usmc_Set_Parameters(int Dev, int mode) |
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| 189 | { |
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| 190 | USMC_Mode umode; |
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| 191 | if( USMC_GetParameters(Dev, ¶meters[Dev]) ) |
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| 192 | return TRUE; |
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| 193 | |||
| 194 | switch (mode) { |
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| 195 | case 1: |
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| 196 | // Linear stage |
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| 197 | parameters[Dev].MaxTemp = 70.0f; |
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| 198 | parameters[Dev].AccelT = 200.0f; |
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| 199 | parameters[Dev].DecelT = 200.0f; |
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| 200 | parameters[Dev].BTimeout1 = 500.0f; |
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| 201 | parameters[Dev].BTimeout2 = 500.0f; |
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| 202 | parameters[Dev].BTimeout3 = 500.0f; |
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| 203 | parameters[Dev].BTimeout4 = 500.0f; |
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| 204 | parameters[Dev].BTO1P = 10.0f; |
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| 205 | parameters[Dev].BTO2P = 20.0f; |
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| 206 | parameters[Dev].BTO3P = 30.0f; |
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| 207 | parameters[Dev].BTO4P = 60.0f; |
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| 208 | parameters[Dev].MinP = 60.0f; |
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| 209 | parameters[Dev].BTimeoutR = 500.0f; |
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| 210 | parameters[Dev].LoftPeriod = 50.0f; |
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| 211 | parameters[Dev].RTDelta = 20; |
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| 212 | parameters[Dev].RTMinError = 15; |
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| 213 | parameters[Dev].EncMult = 2.5f; |
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| 214 | parameters[Dev].MaxLoft = 32; |
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| 215 | parameters[Dev].PTimeout = 100.0f; |
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| 216 | parameters[Dev].SynOUTP = 1; |
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| 217 | break; |
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| 218 | case 0: |
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| 219 | // Rotation stage |
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| 220 | parameters[Dev].MaxTemp = 70.0f; |
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| 221 | parameters[Dev].AccelT = 200.0f; |
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| 222 | parameters[Dev].DecelT = 200.0f; |
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| 223 | parameters[Dev].BTimeout1 = 500.0f; |
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| 224 | parameters[Dev].BTimeout2 = 500.0f; |
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| 225 | parameters[Dev].BTimeout3 = 500.0f; |
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| 226 | parameters[Dev].BTimeout4 = 500.0f; |
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| 227 | parameters[Dev].BTO1P = 100.0f; |
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| 228 | parameters[Dev].BTO2P = 200.0f; |
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| 229 | parameters[Dev].BTO3P = 300.0f; |
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| 230 | parameters[Dev].BTO4P = 600.0f; |
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| 231 | parameters[Dev].MinP = 500.0f; |
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| 232 | parameters[Dev].BTimeoutR = 500.0f; |
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| 233 | parameters[Dev].LoftPeriod = 500.0f; |
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| 234 | parameters[Dev].RTDelta = 200; |
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| 235 | parameters[Dev].RTMinError = 15; |
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| 236 | parameters[Dev].EncMult = 2.5f; |
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| 237 | parameters[Dev].MaxLoft = 32; |
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| 238 | parameters[Dev].PTimeout = 100.0f; |
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| 239 | parameters[Dev].SynOUTP = 1; |
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| 240 | break; |
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| 241 | } |
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| 242 | |||
| 243 | // |
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| 244 | |||
| 245 | if( USMC_SetParameters( Dev, ¶meters[Dev] ) ) |
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| 246 | return TRUE; |
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| 247 | |||
| 248 | if( USMC_SaveParametersToFlash( Dev ) ) |
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| 249 | return TRUE; |
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| 250 | |||
| 251 | |||
| 252 | if (mode){ |
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| 253 | if ( USMC_GetMode ( Dev, &umode ) ) return FALSE; |
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| 254 | umode.TrSwap = 0; |
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| 255 | if ( USMC_SetMode ( Dev, &umode ) ) return FALSE; |
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| 256 | printf ( "Now, TrSwap is %d \n", umode.TrSwap ); |
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| 257 | } |
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| 258 | //system("cls"); |
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| 259 | print_parameters( ¶meters[Dev] ); |
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| 260 | printf("\nThese Parameters are Saved to Flash"); |
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| 261 | |||
| 262 | return FALSE; |
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| 263 | } |
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| 264 | |||
| 265 | int usmc_Init(int node, int mode){ |
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| 266 | printf("\nNode %d\n",node); |
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| 267 | USMC_GetStartParameters(node,&parstart[node]); |
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| 268 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i1 %s\n",errstr); |
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| 269 | |||
| 270 | USMC_GetState(node,&parstate[node]); |
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| 271 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i2 %s\n",errstr); |
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| 272 | |||
| 273 | USMC_GetEncoderState(node,&parencstate[node]); |
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| 274 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i3 %s\n",errstr); |
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| 275 | |||
| 276 | print_state(&parstate[node]); |
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| 277 | print_enc_state ( parencstate[node]); |
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| 278 | print_start_params (parstart[node] ); |
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| 279 | usmc_Set_Parameters(node, mode); |
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| 280 | return 0; |
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| 281 | } |
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| 282 | |||
| 283 | float usmc_speed=10000; |
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| 284 | |||
| 285 | int usmc_Move(int node, int pos, BOOL absrel){ |
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| 286 | time_t tcur=0, tprev=-1; |
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| 287 | USMC_GetStartParameters(node,&parstart[node]); |
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| 288 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("x1 %s\n",errstr); |
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| 289 | |||
| 290 | parstart[node].WSyncIN=absrel; |
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| 291 | parstart[node].SlStart=1; |
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| 292 | parstart[node].LoftEn=0; |
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| 293 | print_start_params ( parstart[node] ); |
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| 294 | USMC_Start(node,pos,&usmc_speed, &parstart[node]); |
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| 295 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("x2 %s speed %f\n",errstr,usmc_speed); |
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| 296 | |||
| 297 | do { |
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| 298 | USMC_GetState(node,&parstate[node]); |
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| 299 | USMC_GetLastErr(errstr,ERRLEN); // if (strlen(errstr)) printf("x3 %s\n",errstr); |
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| 300 | tcur= time(NULL); |
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| 301 | if (tcur != tprev){ |
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| 302 | printf("%d CurPos %d L%d R%d Rot%d %s %s\n",node, |
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| 303 | parstate[node].CurPos,parstate[node].Trailer1,parstate[node].Trailer2, parstate[node].RotTr, |
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| 304 | parstate[node].RUN?"Run":"Stopped",parstate[node].Power?"On":"Off" ); |
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| 305 | tprev= tcur; |
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| 306 | } |
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| 307 | |||
| 308 | } while ( parstate[node].RUN == 1 ); |
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| 309 | |||
| 310 | |||
| 311 | USMC_GetState(node,&parstate[node]); |
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| 312 | printf("***** %d CurPos %d L%d R%d %s %s\n",node, |
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| 313 | parstate[node].CurPos,parstate[node].Trailer1,parstate[node].Trailer2, |
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| 314 | parstate[node].RUN?"Run":"Stopped",parstate[node].Power?"On":"Off" ); |
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| 315 | USMC_GetParameters(node,¶meters[node]); |
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| 316 | USMC_GetEncoderState(node,&parencstate[node]); |
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| 317 | printf("node %d ECurPos 0x%0x %f EncoderPos =0x%04x %f\n",node, |
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| 318 | parencstate[node].ECurPos, (((parencstate[node].ECurPos)>>5)&0x8FFFFF)/parameters[node].EncMult, |
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| 319 | parencstate[node].EncoderPos,((parencstate[node].EncoderPos >> 5)&0x8FFFFF)/parameters[node].EncMult); |
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| 320 | |||
| 321 | |||
| 322 | return 0; |
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| 323 | } |
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| 324 | |||
| 325 | |||
| 326 | |||
| 327 | void usmc_PowerOnOff ( int cur_dev, int smpower ){ |
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| 328 | |||
| 329 | USMC_Mode mode; |
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| 330 | if ( USMC_GetMode ( cur_dev, &mode ) ) return; |
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| 331 | mode.ResetD = !smpower; |
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| 332 | if ( USMC_SetMode ( cur_dev, &mode ) ) return; |
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| 333 | printf ( "Now, Power of the node %d is %s\n", cur_dev, mode.ResetD ? "Off" : "On" ); |
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| 334 | } |
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| 335 | |||
| 336 | int usmc_RelMove(int node, int pos){ |
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| 337 | return usmc_Move(node,pos, TRUE); |
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| 338 | } |
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| 339 | int usmc_MoveTo(int node, int pos){ |
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| 340 | return usmc_Move(node,pos, FALSE); |
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| 341 | } |
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| 342 | |||
| 343 | int Revert_Start_Position_to_0(int node) |
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| 344 | { |
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| 345 | USMC_Parameters Prms; |
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| 346 | // Initialize structures (in case this function runs first) |
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| 347 | if( USMC_GetParameters(node, &Prms) ) |
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| 348 | return TRUE; |
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| 349 | Prms.StartPos = 0; |
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| 350 | if( USMC_SetParameters( node, &Prms ) ) |
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| 351 | return TRUE; |
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| 352 | // Then of Course You Need to SaveToFlash |
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| 353 | if( USMC_SaveParametersToFlash( node ) ) |
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| 354 | return TRUE; |
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| 355 | //system("cls"); |
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| 356 | printf("\nStart Position is Reset to 0\n"); |
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| 357 | printf("\nPress any key to exit"); |
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| 358 | return FALSE; |
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| 359 | } |
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| 360 | |||
| 361 | int usmc_Reset(int node, int mode){ |
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| 362 | |||
| 363 | usmc_Init(node,mode); |
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| 364 | USMC_SetCurrentPosition(node, 0); |
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| 365 | Revert_Start_Position_to_0(node); |
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| 366 | return 0; |
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| 367 | } |
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| 368 | |||
| 369 | int usmc_ReferenceMove(int node, int mode){ |
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| 370 | |||
| 371 | int pos = 1000000; |
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| 372 | int dir=1; |
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| 373 | if (mode) dir = -1; |
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| 374 | |||
| 375 | USMC_GetState(node,&parstate[node]); |
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| 376 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 377 | USMC_GetState(node,&parstate[node]); |
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| 378 | pos = 5000; |
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| 379 | if (mode) pos=500; |
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| 380 | usmc_MoveTo(node, parstate[node].CurPos + pos * dir); |
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| 381 | USMC_GetState(node,&parstate[node]); |
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| 382 | usmc_speed /=5; |
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| 383 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 384 | USMC_GetState(node,&parstate[node]); |
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| 385 | pos = 2000; |
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| 386 | if (mode) pos=200; |
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| 387 | usmc_MoveTo(node, parstate[node].CurPos + pos *dir); |
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| 388 | USMC_GetState(node,&parstate[node]); |
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| 389 | usmc_speed /= 10; |
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| 390 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 391 | USMC_GetState(node,&parstate[node]); |
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| 392 | USMC_SetCurrentPosition(node, 0); |
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| 393 | Revert_Start_Position_to_0(node); |
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| 394 | return 0; |
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| 395 | } |
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| 396 | |||
| 397 | int help(){ |
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| 398 | fprintf(stderr, "Usage: mikro [-i node][-n node] [-u up] [-d down] [-r node] [-h node] [-a] [-g] [-m pos]\n"); |
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| 399 | fprintf(stderr," Options:\n"); |
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| 400 | fprintf(stderr," -n node -i mode .. initialize node\n"); |
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| 401 | fprintf(stderr," -n node -h .. homing procedure for node\n"); |
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| 402 | fprintf(stderr," -n node -p 1 .. power on\n"); |
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| 403 | fprintf(stderr," -n node -p 0 .. power off\n"); |
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| 404 | fprintf(stderr," -n node -r mode .. reset node\n"); |
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| 405 | fprintf(stderr," -n node -u .. move node for +1000\n"); |
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| 406 | fprintf(stderr," -n node -d .. move node for -1000\n"); |
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| 407 | fprintf(stderr," -a .. current status of the nodes\n"); |
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| 408 | fprintf(stderr," -n node -v value -f cmd .. set value of the cmd on the node\n"); |
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| 409 | fprintf(stderr," -n node -g cmd .. get value of the cmd on the node\n"); |
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| 410 | fprintf(stderr," -n node -m position -s speed .. move node to position at speed (default 10000)\n"); |
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| 411 | fprintf(stderr," -l delaysec .. loop test with the delay delaysec\n"); |
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| 412 | return 0; |
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| 413 | } |
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| 414 | |||
| 415 | |||
| 416 | #ifndef _WINDOWS |
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| 417 | |||
| 418 | int main (int argc, char ** argv){ |
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| 419 | int i,j,k; |
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| 420 | int node=0,opt,value=0; |
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| 421 | int EOldPos=-1; |
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| 422 | if ( USMC_Init ( &devices ) ) abort(); |
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| 423 | |||
| 424 | |||
| 425 | while ((opt = getopt(argc, argv, "i:av:f:l:udn:m:s:v:g:h:r:p:")) != -1) { |
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| 426 | switch (opt) { |
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| 427 | case 'i': |
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| 428 | usmc_Init (node, atoi(optarg)); |
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| 429 | |||
| 430 | break; |
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| 431 | case 'a': |
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| 432 | printdevices(devices); |
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| 433 | for (i=0;i<devices.NOD;i++){ |
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| 434 | |||
| 435 | USMC_GetState(i,&parstate[i]); |
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| 436 | printf("%d CurPos %d L%d R%d %s %s\t",i, |
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| 437 | parstate[i].CurPos,parstate[i].Trailer1,parstate[i].Trailer2, |
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| 438 | parstate[i].RUN?"Run":"Stopped",parstate[i].Power?"On":"Off" ); |
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| 439 | USMC_GetParameters(i,¶meters[i]); |
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| 440 | USMC_GetEncoderState(i,&parencstate[i]); |
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| 441 | printf("node %d ECurPos 0x%0x %f EncoderPos =0x%04x %f\n",i, |
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| 442 | parencstate[i].ECurPos, (((parencstate[i].ECurPos)>>5)&0x8FFFFF)/parameters[i].EncMult, |
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| 443 | parencstate[i].EncoderPos,((parencstate[i].EncoderPos >> 5)&0x8FFFFF)/parameters[i].EncMult); |
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| 444 | |||
| 445 | } |
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| 446 | break; |
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| 447 | |||
| 448 | case 'l': |
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| 449 | printf("usmc_MoveTo Loop\n"); |
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| 450 | for (i=0;i<5;i++){ |
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| 451 | int xpos=i*1000+10000; |
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| 452 | usmc_MoveTo (1, xpos); |
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| 453 | for (j=0;j<5;j++){ |
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| 454 | int ypos=j*1000+10000; |
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| 455 | usmc_MoveTo (2, ypos); |
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| 456 | for (k=0;k<50;k++){ |
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| 457 | int zpos=k*1000+10000; |
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| 458 | usmc_MoveTo (3, zpos); |
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| 459 | printf("x=%d y=%d z=%d\n",xpos,ypos,zpos); |
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| 460 | Delay(atof(optarg)); |
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| 461 | |||
| 462 | } |
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| 463 | } |
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| 464 | } |
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| 465 | break; |
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| 466 | case 'n': |
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| 467 | node = atoi(optarg); |
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| 468 | break; |
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| 469 | case 's': |
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| 470 | usmc_speed = atoi(optarg); |
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| 471 | break; |
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| 472 | case 'p': |
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| 473 | usmc_PowerOnOff(node,atoi(optarg)); |
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| 474 | break; |
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| 475 | case 'm': |
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| 476 | usmc_MoveTo (node, atoi(optarg)); |
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| 477 | printf("usmc_MoveTo node=%d pos=%d \n",node,atoi(optarg)); |
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| 478 | |||
| 479 | break; |
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| 480 | case 'v': |
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| 481 | value=atoi(optarg); |
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| 482 | break; |
||
| 483 | /* |
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| 484 | case 'f': |
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| 485 | MIKRO_Set (node,optarg,value); |
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| 486 | printf("MIKRO_Set node %d cmd=%s val=%d\n",node,optarg, value); |
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| 487 | break; |
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| 488 | case 'g': |
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| 489 | MIKRO_Get (node,optarg,&i); |
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| 490 | printf("MIKRO_Get node %d cmd=%s val=%d\n",node,optarg, i); |
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| 491 | |||
| 492 | break; |
||
| 493 | |||
| 494 | |||
| 495 | */ |
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| 496 | |||
| 497 | case 'r': |
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| 498 | printf("usmc_Reset node=%d mode=%d\n",node, atoi(optarg)); |
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| 499 | usmc_Reset (node, atoi(optarg)); |
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| 500 | break; |
||
| 501 | |||
| 502 | case 'h': |
||
| 503 | printf("usmc_ReferenceMove node=%d mode=%d\n",node, atoi(optarg)); |
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| 504 | usmc_ReferenceMove (node, atoi(optarg)); |
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| 505 | break; |
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| 506 | |||
| 507 | case 'u': |
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| 508 | usmc_RelMove(node, 1000); |
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| 509 | break; |
||
| 510 | case 'd': |
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| 511 | usmc_RelMove(node, -1000); |
||
| 512 | break; |
||
| 513 | |||
| 514 | |||
| 515 | default: /* '?' */ |
||
| 516 | help(); |
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| 517 | |||
| 518 | break; |
||
| 519 | } |
||
| 520 | } |
||
| 521 | if (argc==1) help(); |
||
| 522 | |||
| 523 | |||
| 524 | USMC_Close (); |
||
| 525 | #ifdef _WINDOWS |
||
| 526 | getchar(); |
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| 527 | #endif |
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| 528 | return 0; |
||
| 529 | } |
||
| 530 | |||
| 531 | |||
| 532 | #endif |