Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 335 | f9daq | 1 | /* |
| 2 | 8mru |
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| 3 | sudo ./usmc_ctrl -n 0 -p 1 -s 1000 -h 0 -p 0 |
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| 4 | sudo ./usmc_ctrl -n 0 -p 1 -s 1000 -m +1210 -p 0 |
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| 5 | sudo ./usmc_ctrl -n 0 -p 1 -s 1000 -m -1210 -p 0 |
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| 6 | |||
| 7 | |||
| 8 | usmc_ctrl -a |
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| 9 | usmc_ctrl -n 0 -i |
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| 10 | usmc_ctrl -n 0 -p 1 -s 5000 -m 10000 - p 0 |
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| 11 | usmc_ctrl -n 0 -p 1 -h -p 0 |
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| 12 | |||
| 13 | |||
| 14 | */ |
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| 15 | #include <stdlib.h> |
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| 16 | #include <stdio.h> |
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| 17 | #include <string.h> |
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| 18 | |||
| 19 | #ifndef _WINDOWS |
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| 20 | #include "libusmc.h" |
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| 21 | #include <getopt.h> |
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| 22 | #include <time.h> |
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| 23 | |||
| 24 | void sleep_us(unsigned long microseconds) |
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| 25 | { |
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| 26 | struct timespec ts; |
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| 27 | ts.tv_sec = microseconds / 1000000; // whole seconds |
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| 28 | ts.tv_nsec = (microseconds % 1000000) * 1000; // remainder, in nanoseconds |
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| 29 | nanosleep(&ts, NULL); |
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| 30 | } |
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| 31 | |||
| 32 | #define Delay(x) sleep_us((int)(x*1000000)) |
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| 33 | #else |
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| 34 | #include "USMCDLL.H" |
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| 35 | #include <utility.h> |
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| 36 | #include <ansi_c.h> |
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| 37 | |||
| 38 | |||
| 39 | |||
| 40 | #define ERR(s, c) if(opterr) fprintf(stderr,"%s %c\n",s,c); |
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| 41 | |||
| 42 | |||
| 43 | int opterr = 1; |
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| 44 | int optind = 1; |
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| 45 | int optopt; |
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| 46 | char *optarg; |
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| 47 | |||
| 48 | int getopt(int argc, char **argv, char *opts){ |
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| 49 | static int sp = 1; |
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| 50 | int c; |
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| 51 | char *cp; |
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| 52 | |||
| 53 | if(sp == 1) |
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| 54 | if(optind >= argc || |
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| 55 | argv[optind][0] != '-' || argv[optind][1] == '\0') |
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| 56 | return(EOF); |
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| 57 | else if(strcmp(argv[optind], "--") == NULL) { |
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| 58 | optind++; |
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| 59 | return(EOF); |
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| 60 | } |
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| 61 | optopt = c = argv[optind][sp]; |
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| 62 | if(c == ':' || (cp=strchr(opts, c)) == NULL) { |
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| 63 | ERR(": illegal option -- ", c); |
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| 64 | if(argv[optind][++sp] == '\0') { |
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| 65 | optind++; |
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| 66 | sp = 1; |
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| 67 | } |
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| 68 | return('?'); |
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| 69 | } |
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| 70 | if(*++cp == ':') { |
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| 71 | if(argv[optind][sp+1] != '\0') |
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| 72 | optarg = &argv[optind++][sp+1]; |
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| 73 | else if(++optind >= argc) { |
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| 74 | ERR(": option requires an argument -- ", c); |
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| 75 | sp = 1; |
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| 76 | return('?'); |
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| 77 | } else |
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| 78 | optarg = argv[optind++]; |
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| 79 | sp = 1; |
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| 80 | } else { |
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| 81 | if(argv[optind][++sp] == '\0') { |
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| 82 | sp = 1; |
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| 83 | optind++; |
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| 84 | } |
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| 85 | optarg = NULL; |
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| 86 | } |
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| 87 | return(c); |
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| 88 | } |
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| 89 | |||
| 90 | #endif |
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| 91 | |||
| 92 | #define MAXNODES 4 |
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| 93 | USMC_Devices devices; |
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| 94 | USMC_StartParameters parstart[MAXNODES]; |
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| 95 | USMC_Parameters parameters[MAXNODES]; |
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| 96 | USMC_State parstate[MAXNODES]; |
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| 97 | USMC_EncoderState parencstate[MAXNODES]; |
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| 98 | #define ERRLEN 128 |
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| 99 | char errstr[ERRLEN]; |
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| 100 | |||
| 101 | // Function that prints information about device parameters to console |
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| 102 | void print_parameters(USMC_Parameters *Parameters) |
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| 103 | { |
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| 104 | printf( "The parameters are:\n" ); |
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| 105 | printf( "Full acceleration time - %.0f ms\n", (double) Parameters->AccelT ); |
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| 106 | printf( "Full deceleration time - %.0f ms\n", (double) Parameters->DecelT ); |
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| 107 | printf( "Power reduction timeout - %.0f ms\n", (double) Parameters->PTimeout ); |
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| 108 | printf( "Button speedup timeout 1 - %.0f ms\n", (double) Parameters->BTimeout1 ); |
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| 109 | printf( "Button speed after timeout 1 - %.2f steps/s\n", (double) Parameters->BTO1P ); |
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| 110 | printf( "Button speedup timeout 2 - %.0f ms\n", (double) Parameters->BTimeout2 ); |
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| 111 | printf( "Button speed after timeout 2 - %.2f steps/s\n", (double) Parameters->BTO2P ); |
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| 112 | printf( "Button speedup timeout 3 - %.0f ms\n", (double) Parameters->BTimeout3 ); |
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| 113 | printf( "Button speed after timeout 3 - %.2f steps/s\n", (double) Parameters->BTO3P ); |
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| 114 | printf( "Button speedup timeout 4 - %.0f ms\n", (double) Parameters->BTimeout4 ); |
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| 115 | printf( "Button speed after timeout 4 - %.2f steps/s\n", (double) Parameters->BTO4P ); |
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| 116 | printf( "Button reset timeout - %.0f ms\n", (double) Parameters->BTimeoutR ); |
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| 117 | printf( "Button reset operation speed - %.2f steps/s\n", (double) Parameters->MinP ); |
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| 118 | printf( "Backlash operation distance - %d steps\n", (int)Parameters->MaxLoft ); |
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| 119 | printf( "Revolution distance - %d steps\n", (int)Parameters->RTDelta ); |
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| 120 | printf( "Minimal revolution distance error - %d steps\n", (int)Parameters->RTMinError ); |
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| 121 | printf( "Power off temperature - %.2f\xf8\x43\n", (double)Parameters->MaxTemp ); |
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| 122 | printf( "Duration of the output synchronization pulse - "); |
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| 123 | if(Parameters->SynOUTP == 0) |
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| 124 | printf( "minimal\n"); |
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| 125 | else |
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| 126 | printf( "%.1f * [Tact Period]\n", Parameters->SynOUTP - 0.5); |
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| 127 | printf( "Speed of the last phase of the backlash operation - "); |
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| 128 | if(Parameters->LoftPeriod == 0.0f) |
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| 129 | printf( "normal\n" ); |
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| 130 | else |
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| 131 | printf( "%.2f steps/s\n", (double)Parameters->LoftPeriod ); |
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| 132 | printf( "<Angular Encoder Step> Equals <Angular Step Motor Step>/<%.2f>\n", Parameters->EncMult); |
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| 133 | |||
| 134 | } |
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| 135 | |||
| 136 | // Function that prints information about device start parameters to console |
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| 137 | void print_start_params ( const USMC_StartParameters sp ){ |
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| 138 | printf ( "* Steps Divisor - %d\n", sp.SDivisor ); |
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| 139 | |||
| 140 | if ( sp.SDivisor == 1 ) |
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| 141 | printf ( "* Slow start/stop mode - %s\n", sp.SlStart ? "Enabled" : "Disabled" ); |
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| 142 | else if ( sp.LoftEn ) { |
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| 143 | printf ( "* Automatic backlash operation - Enabled\n" ); |
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| 144 | printf ( "* Automatic backlash operation direction - %s\n", sp.DefDir ? "CCW" : "CW" ); |
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| 145 | printf ( "* Force automatic backlash operation - %s\n", sp.ForceLoft ? "TRUE" : "FALSE" ); |
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| 146 | } else { |
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| 147 | printf ( "* Automatic backlash operation - Disabled\n" ); |
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| 148 | } |
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| 149 | if ( sp.WSyncIN ) |
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| 150 | printf ( "* Controller will wait for input synchronization signal to start\n" ); |
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| 151 | else |
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| 152 | printf ( "* Input synchronization signal ignored \n" ); |
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| 153 | |||
| 154 | printf ( "* Output synchronization counter will %sbe reset\n", sp.SyncOUTR ? "" : "not " ); |
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| 155 | } |
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| 156 | |||
| 157 | // Function that prints information about device state to console |
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| 158 | void print_state(USMC_State *State) |
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| 159 | { |
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| 160 | printf( " The state is:\n" ); |
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| 161 | printf( "- Current Position in microsteps - %d\n", State->CurPos ); |
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| 162 | printf( "- Temperature - %.2f\xf8\x43\n", State->Temp ); |
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| 163 | printf( "- Step Divisor - %d\n", State->SDivisor); |
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| 164 | printf( "- Loft State - %s\n", State->Loft?"Indefinite":"Fixed" ); |
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| 165 | printf( "- Power - %s\n", State->Power?(State->FullPower?"Full":"Half"):"Off" ); |
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| 166 | if(State->RUN) |
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| 167 | printf( "- Step Motor is Running in %s Direction %s\n", |
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| 168 | State->CW_CCW?"CCW":"CW", ((State->SDivisor==1) && State->FullSpeed)?"at Full Speed":"" ); |
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| 169 | else |
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| 170 | printf( "- Step Motor is Not Running\n" ); |
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| 171 | printf( "- Device %s\n", State->AReset?"is After Reset":"Position Already Set" ); |
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| 172 | printf( "- Input Synchronization Logical Pin State - %s\n", State->SyncIN?"TRUE":"FALSE" ); |
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| 173 | printf( "- Output Synchronization Logical Pin State - %s\n", State->SyncOUT?"TRUE":"FALSE" ); |
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| 174 | printf( "- Rotary Transducer Logical Pin State - %s\n", State->RotTr?"TRUE":"FALSE" ); |
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| 175 | printf( "- Rotary Transducer Error Flag - %s\n", State->RotTrErr?"Error":"Clear" ); |
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| 176 | printf( "- Emergency Disable Button - %s\n", State->EmReset?"Pushed":"Unpushed" ); |
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| 177 | printf( "- Trailer 1 Press State - %s\n", State->Trailer1?"Pushed":"Unpushed" ); |
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| 178 | printf( "- Trailer 2 Press State - %s\n", State->Trailer2?"Pushed":"Unpushed" ); |
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| 179 | if( State->Voltage == 0.0f ) |
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| 180 | printf( "- Input Voltage - Low\n"); |
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| 181 | else |
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| 182 | printf( "- Input Voltage - %.1fV\n", State->Voltage); |
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| 183 | |||
| 184 | } |
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| 185 | |||
| 186 | void print_enc_state ( USMC_EncoderState enc_state ) |
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| 187 | { |
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| 188 | printf ( "# The encoder state is:\n" ); |
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| 189 | printf ( "# Current Position in \"Half of Encoder Step\"s - %d\n", enc_state.ECurPos ); |
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| 190 | printf ( "# Encoder Position in \"Half of Encoder Step\"s - %d\n", enc_state.EncoderPos ); |
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| 191 | |||
| 192 | } |
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| 193 | |||
| 194 | |||
| 195 | // Function that prints information about connected devices to console |
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| 196 | void printdevices(USMC_Devices DVS) |
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| 197 | { |
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| 198 | DWORD i; |
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| 199 | for( i = 0; i < DVS.NOD; i++) |
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| 200 | { |
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| 201 | printf("Device - %d,\tSerial Number - %.16s,\tVersion - %.4s\n",i,DVS.Serial[i],DVS.Version[i]); |
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| 202 | } |
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| 203 | } |
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| 204 | |||
| 205 | |||
| 206 | |||
| 207 | void usmc_SwapSwitches ( int cur_dev, int swap ){ |
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| 208 | |||
| 209 | USMC_Mode mode; |
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| 210 | if ( USMC_GetMode ( cur_dev, &mode ) ) return; |
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| 211 | mode.TrSwap = swap; |
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| 212 | if ( USMC_SetMode ( cur_dev, &mode ) ) return; |
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| 213 | printf ( "Now, Switches of %d are %s swapped.\n", cur_dev, mode.TrSwap ? "" : "not" ); |
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| 214 | } |
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| 215 | |||
| 216 | void usmc_EnableSwitches ( int cur_dev, int enable ){ |
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| 217 | |||
| 218 | USMC_Mode mode; |
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| 219 | if ( USMC_GetMode ( cur_dev, &mode ) ) return; |
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| 220 | mode.Tr1En = enable; |
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| 221 | mode.Tr2En = enable; |
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| 222 | if ( USMC_SetMode ( cur_dev, &mode ) ) return; |
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| 223 | printf ( "Now, Switches of %d are %s.\n", cur_dev, mode.Tr1En ? "enabled" : "disabled" ); |
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| 224 | } |
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| 225 | |||
| 226 | |||
| 227 | int usmc_Set_Parameters(int Dev, int mode) |
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| 228 | { |
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| 229 | |||
| 230 | if( USMC_GetParameters(Dev, ¶meters[Dev]) ) |
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| 231 | return TRUE; |
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| 232 | |||
| 233 | switch (mode) { |
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| 234 | case 0: |
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| 235 | // Rotation stage |
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| 236 | |||
| 237 | usmc_SwapSwitches(Dev,1); |
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| 238 | parameters[Dev].MaxTemp = 70.0f; |
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| 239 | parameters[Dev].AccelT = 200.0f; |
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| 240 | parameters[Dev].DecelT = 200.0f; |
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| 241 | parameters[Dev].BTimeout1 = 500.0f; |
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| 242 | parameters[Dev].BTimeout2 = 500.0f; |
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| 243 | parameters[Dev].BTimeout3 = 500.0f; |
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| 244 | parameters[Dev].BTimeout4 = 500.0f; |
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| 245 | parameters[Dev].BTO1P = 10.0f; |
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| 246 | parameters[Dev].BTO2P = 20.0f; |
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| 247 | parameters[Dev].BTO3P = 30.0f; |
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| 248 | parameters[Dev].BTO4P = 60.0f; |
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| 249 | parameters[Dev].MinP = 60.0f; |
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| 250 | parameters[Dev].BTimeoutR = 500.0f; |
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| 251 | parameters[Dev].LoftPeriod = 50.0f; |
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| 252 | parameters[Dev].RTDelta = 20; |
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| 253 | parameters[Dev].RTMinError = 15; |
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| 254 | parameters[Dev].EncMult = 2.5f; |
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| 255 | parameters[Dev].MaxLoft = 32; |
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| 256 | parameters[Dev].PTimeout = 100.0f; |
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| 257 | parameters[Dev].SynOUTP = 1; |
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| 258 | break; |
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| 259 | case 1: |
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| 260 | // Linear stage |
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| 261 | usmc_SwapSwitches(Dev,0); |
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| 262 | parameters[Dev].MaxTemp = 70.0f; |
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| 263 | parameters[Dev].AccelT = 200.0f; |
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| 264 | parameters[Dev].DecelT = 200.0f; |
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| 265 | parameters[Dev].BTimeout1 = 500.0f; |
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| 266 | parameters[Dev].BTimeout2 = 500.0f; |
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| 267 | parameters[Dev].BTimeout3 = 500.0f; |
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| 268 | parameters[Dev].BTimeout4 = 500.0f; |
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| 269 | parameters[Dev].BTO1P = 100.0f; |
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| 270 | parameters[Dev].BTO2P = 200.0f; |
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| 271 | parameters[Dev].BTO3P = 300.0f; |
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| 272 | parameters[Dev].BTO4P = 600.0f; |
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| 273 | parameters[Dev].MinP = 500.0f; |
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| 274 | parameters[Dev].BTimeoutR = 500.0f; |
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| 275 | parameters[Dev].LoftPeriod = 500.0f; |
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| 276 | parameters[Dev].RTDelta = 200; |
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| 277 | parameters[Dev].RTMinError = 15; |
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| 278 | parameters[Dev].EncMult = 2.5f; |
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| 279 | parameters[Dev].MaxLoft = 32; |
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| 280 | parameters[Dev].PTimeout = 100.0f; |
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| 281 | parameters[Dev].SynOUTP = 1; |
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| 282 | break; |
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| 283 | } |
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| 284 | |||
| 285 | // |
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| 286 | |||
| 287 | if( USMC_SetParameters( Dev, ¶meters[Dev] ) ) |
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| 288 | return TRUE; |
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| 289 | |||
| 290 | if( USMC_SaveParametersToFlash( Dev ) ) |
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| 291 | return TRUE; |
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| 292 | |||
| 293 | //system("cls"); |
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| 294 | print_parameters( ¶meters[Dev] ); |
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| 295 | printf("\nThese Parameters are Saved to Flash"); |
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| 296 | |||
| 297 | return FALSE; |
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| 298 | } |
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| 299 | |||
| 300 | int usmc_Init(int node, int mode){ |
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| 301 | printf("\nNode %d\n",node); |
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| 302 | USMC_GetStartParameters(node,&parstart[node]); |
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| 303 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i1 %s\n",errstr); |
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| 304 | |||
| 305 | USMC_GetState(node,&parstate[node]); |
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| 306 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i2 %s\n",errstr); |
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| 307 | |||
| 308 | USMC_GetEncoderState(node,&parencstate[node]); |
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| 309 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("i3 %s\n",errstr); |
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| 310 | |||
| 311 | print_state(&parstate[node]); |
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| 312 | print_enc_state ( parencstate[node]); |
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| 313 | print_start_params (parstart[node] ); |
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| 314 | usmc_Set_Parameters(node, mode); |
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| 315 | return 0; |
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| 316 | } |
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| 317 | |||
| 318 | float usmc_speed=10000; |
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| 319 | int usmc_Move(int node, int pos, BOOL absrel){ |
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| 320 | time_t tcur=0, tprev=-1; |
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| 321 | USMC_GetStartParameters(node,&parstart[node]); |
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| 322 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("x1 %s\n",errstr); |
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| 323 | |||
| 324 | parstart[node].WSyncIN=absrel; |
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| 325 | parstart[node].SlStart=1; |
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| 326 | parstart[node].LoftEn=0; |
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| 327 | print_start_params ( parstart[node] ); |
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| 328 | if (absrel) printf("usmc_Move relative for %d\n",pos); |
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| 329 | else printf("usmc_Move absolute %d\n",pos); |
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| 330 | USMC_Start(node,pos,&usmc_speed, &parstart[node]); |
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| 331 | Delay(0.1); |
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| 332 | USMC_GetLastErr(errstr,ERRLEN); if (strlen(errstr)) printf("x2 %s speed %f\n",errstr,usmc_speed); |
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| 333 | |||
| 334 | do { |
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| 335 | USMC_GetState(node,&parstate[node]); |
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| 336 | USMC_GetLastErr(errstr,ERRLEN); // if (strlen(errstr)) printf("x3 %s\n",errstr); |
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| 337 | tcur= time(NULL); |
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| 338 | if (tcur != tprev){ |
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| 339 | printf("%d CurPos %d L%d R%d Rot%d %s %s\n",node, |
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| 340 | parstate[node].CurPos,parstate[node].Trailer1,parstate[node].Trailer2, parstate[node].RotTr, |
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| 341 | parstate[node].RUN?"Run":"Stopped",parstate[node].Power?"On":"Off" ); |
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| 342 | tprev= tcur; |
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| 343 | } |
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| 344 | |||
| 345 | } while ( parstate[node].RUN == 1 ); |
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| 346 | USMC_GetState(node,&parstate[node]); |
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| 347 | printf("***** %d CurPos %d L%d R%d %s %s\n",node, |
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| 348 | parstate[node].CurPos,parstate[node].Trailer1,parstate[node].Trailer2, |
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| 349 | parstate[node].RUN?"Run":"Stopped",parstate[node].Power?"On":"Off" ); |
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| 350 | USMC_GetParameters(node,¶meters[node]); |
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| 351 | USMC_GetEncoderState(node,&parencstate[node]); |
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| 352 | printf("node %d ECurPos 0x%0x %f EncoderPos =0x%04x %f\n",node, |
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| 353 | parencstate[node].ECurPos, (((parencstate[node].ECurPos)>>5)&0x8FFFFF)/parameters[node].EncMult, |
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| 354 | parencstate[node].EncoderPos,((parencstate[node].EncoderPos >> 5)&0x8FFFFF)/parameters[node].EncMult); |
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| 355 | |||
| 356 | |||
| 357 | return 0; |
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| 358 | } |
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| 359 | |||
| 360 | |||
| 361 | |||
| 362 | void usmc_PowerOnOff ( int cur_dev, int smpower ){ |
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| 363 | |||
| 364 | USMC_Mode mode; |
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| 365 | if ( USMC_GetMode ( cur_dev, &mode ) ) return; |
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| 366 | mode.ResetD = !smpower; |
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| 367 | if ( USMC_SetMode ( cur_dev, &mode ) ) return; |
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| 368 | printf ( "Now, Power of the node %d is %s\n", cur_dev, mode.ResetD ? "Off" : "On" ); |
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| 369 | } |
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| 370 | |||
| 371 | int usmc_MoveTo(int node, int pos){ |
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| 372 | return usmc_Move(node,pos, FALSE); |
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| 373 | } |
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| 374 | |||
| 375 | |||
| 376 | int usmc_RelMove(int node, int pos){ |
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| 377 | //return usmc_Move(node,pos, TRUE);// does not work - don't know why |
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| 378 | |||
| 379 | USMC_GetState(node,&parstate[node]); |
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| 380 | return usmc_MoveTo( node, pos + parstate[node].CurPos ); |
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| 381 | } |
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| 382 | |||
| 383 | int Revert_Start_Position_to_0(int node) |
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| 384 | { |
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| 385 | USMC_Parameters Prms; |
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| 386 | // Initialize structures (in case this function runs first) |
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| 387 | if( USMC_GetParameters(node, &Prms) ) |
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| 388 | return TRUE; |
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| 389 | Prms.StartPos = 0; |
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| 390 | if( USMC_SetParameters( node, &Prms ) ) |
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| 391 | return TRUE; |
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| 392 | // Then of Course You Need to SaveToFlash |
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| 393 | if( USMC_SaveParametersToFlash( node ) ) |
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| 394 | return TRUE; |
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| 395 | //system("cls"); |
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| 396 | printf("\nStart Position is Reset to 0\n"); |
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| 397 | printf("\nPress any key to exit"); |
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| 398 | return FALSE; |
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| 399 | } |
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| 400 | |||
| 401 | int usmc_Reset(int node, int mode){ |
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| 402 | |||
| 403 | usmc_Init(node,mode); |
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| 404 | USMC_SetCurrentPosition(node, 0); |
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| 405 | Revert_Start_Position_to_0(node); |
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| 406 | return 0; |
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| 407 | } |
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| 408 | |||
| 409 | int usmc_ReferenceMove(int node, int mode){ |
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| 410 | |||
| 411 | int pos = 1000000; |
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| 412 | int dir=1; |
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| 413 | if (!mode) usmc_SwapSwitches(node,1); |
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| 414 | else usmc_SwapSwitches(node,0); |
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| 415 | |||
| 416 | usmc_EnableSwitches(node,1); |
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| 417 | |||
| 418 | USMC_GetState(node,&parstate[node]); |
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| 419 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 420 | USMC_GetState(node,&parstate[node]); |
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| 421 | pos = 5000; |
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| 422 | if (!mode) pos=500; |
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| 423 | usmc_MoveTo(node, parstate[node].CurPos + pos * dir); |
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| 424 | USMC_GetState(node,&parstate[node]); |
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| 425 | usmc_speed /=5; |
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| 426 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 427 | USMC_GetState(node,&parstate[node]); |
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| 428 | pos = 2000; |
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| 429 | if (!mode) pos=200; |
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| 430 | usmc_MoveTo(node, parstate[node].CurPos + pos *dir); |
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| 431 | USMC_GetState(node,&parstate[node]); |
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| 432 | usmc_speed /= 10; |
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| 433 | usmc_MoveTo(node, parstate[node].CurPos -2 *pos * dir); |
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| 434 | USMC_GetState(node,&parstate[node]); |
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| 435 | USMC_SetCurrentPosition(node, 0); |
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| 436 | Revert_Start_Position_to_0(node); |
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| 437 | |||
| 438 | usmc_EnableSwitches(node,0); |
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| 439 | return 0; |
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| 440 | } |
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| 441 | |||
| 442 | int help(){ |
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| 443 | 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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| 444 | fprintf(stderr," Options:\n"); |
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| 445 | fprintf(stderr," -n node -i mode .. initialize node\n"); |
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| 446 | fprintf(stderr," -n node -h <endswitch_direction> .. homing procedure for node\n"); |
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| 447 | fprintf(stderr," -n node -p 1 .. power on\n"); |
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| 448 | fprintf(stderr," -n node -p 0 .. power off\n"); |
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| 449 | fprintf(stderr," -n node -r mode .. reset node\n"); |
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| 450 | fprintf(stderr," -n node -u <steps> .. move node for <steps>\n"); |
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| 451 | fprintf(stderr," -a .. current status of the nodes\n"); |
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| 452 | fprintf(stderr," -n node -v value -f cmd .. set value of the cmd on the node\n"); |
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| 453 | fprintf(stderr," -n node -g cmd .. get value of the cmd on the node\n"); |
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| 454 | fprintf(stderr," -n node -m position -s speed .. move node to position at speed (default 10000)\n"); |
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| 455 | fprintf(stderr," -l delaysec .. loop test with the delay delaysec\n"); |
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| 456 | return 0; |
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| 457 | } |
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| 458 | |||
| 459 | int main (int argc, char ** argv){ |
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| 460 | int i,j,k; |
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| 461 | int node=0,opt,value=0; |
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| 462 | int EOldPos=-1; |
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| 463 | if ( USMC_Init ( &devices ) ) abort(); |
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| 464 | |||
| 465 | |||
| 466 | while ((opt = getopt(argc, argv, "i:av:f:l:u:n:m:s:v:gh:r:p:")) != -1) { |
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| 467 | switch (opt) { |
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| 468 | case 'i': |
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| 469 | usmc_Init (node, atoi(optarg)); |
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| 470 | |||
| 471 | break; |
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| 472 | case 'a': |
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| 473 | printdevices(devices); |
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| 474 | for (i=0;i<devices.NOD;i++){ |
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| 475 | USMC_GetState(i,&parstate[i]); |
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| 476 | printf("%d CurPos %d L%d R%d %s %s\t",i, |
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| 477 | parstate[i].CurPos,parstate[i].Trailer1,parstate[i].Trailer2, |
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| 478 | parstate[i].RUN?"Run":"Stopped",parstate[i].Power?"On":"Off" ); |
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| 479 | USMC_GetParameters(i,¶meters[i]); |
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| 480 | USMC_GetEncoderState(i,&parencstate[i]); |
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| 481 | printf("node %d ECurPos 0x%0x %f EncoderPos =0x%04x %f\n",i, |
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| 482 | parencstate[i].ECurPos, (((parencstate[i].ECurPos)>>5)&0x8FFFFF)/parameters[i].EncMult, |
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| 483 | parencstate[i].EncoderPos,((parencstate[i].EncoderPos >> 5)&0x8FFFFF)/parameters[i].EncMult); |
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| 484 | |||
| 485 | } |
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| 486 | break; |
||
| 487 | |||
| 488 | case 'l': |
||
| 489 | printf("usmc_MoveTo Loop\n"); |
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| 490 | for (i=0;i<5;i++){ |
||
| 491 | int xpos=i*1000+10000; |
||
| 492 | usmc_MoveTo (0, xpos); |
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| 493 | for (j=0;j<5;j++){ |
||
| 494 | int ypos=j*1000+10000; |
||
| 495 | usmc_MoveTo (1, ypos); |
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| 496 | for (k=0;k<50;k++){ |
||
| 497 | int zpos=k*1000+10000; |
||
| 498 | usmc_MoveTo (2, zpos); |
||
| 499 | printf("x=%d y=%d z=%d\n",xpos,ypos,zpos); |
||
| 500 | Delay(atof(optarg)); |
||
| 501 | |||
| 502 | } |
||
| 503 | } |
||
| 504 | } |
||
| 505 | break; |
||
| 506 | case 'n': |
||
| 507 | node = atoi(optarg); |
||
| 508 | break; |
||
| 509 | case 's': |
||
| 510 | usmc_speed = atoi(optarg); |
||
| 511 | break; |
||
| 512 | case 'p': |
||
| 513 | usmc_PowerOnOff(node,atoi(optarg)); |
||
| 514 | break; |
||
| 515 | case 'm': |
||
| 516 | usmc_EnableSwitches(node,1); |
||
| 517 | usmc_MoveTo (node, atoi(optarg)); |
||
| 518 | usmc_EnableSwitches(node,0); |
||
| 519 | printf("usmc_MoveTo node=%d pos=%d \n",node,atoi(optarg)); |
||
| 520 | |||
| 521 | break; |
||
| 522 | |||
| 523 | case 'v': |
||
| 524 | value=atoi(optarg); |
||
| 525 | break; |
||
| 526 | /* |
||
| 527 | case 'f': |
||
| 528 | MIKRO_Set (node,optarg,value); |
||
| 529 | printf("MIKRO_Set node %d cmd=%s val=%d\n",node,optarg, value); |
||
| 530 | break; |
||
| 531 | */ |
||
| 532 | case 'g': |
||
| 533 | |||
| 534 | USMC_GetState(node,&parstate[node]); |
||
| 535 | printf("node %d CurPos %d L%d R%d %s %s\n",node, |
||
| 536 | parstate[node].CurPos,parstate[node].Trailer1,parstate[node].Trailer2, |
||
| 537 | parstate[node].RUN?"Run":"Stopped",parstate[node].Power?"On":"Off" ); |
||
| 538 | |||
| 539 | |||
| 540 | break; |
||
| 541 | |||
| 542 | |||
| 543 | case 'r': |
||
| 544 | printf("usmc_Reset node=%d mode=%d\n",node, atoi(optarg)); |
||
| 545 | usmc_Reset (node, atoi(optarg)); |
||
| 546 | break; |
||
| 547 | |||
| 548 | case 'h': |
||
| 549 | printf("usmc_ReferenceMove node=%d endswitch=%d\n",node, atoi(optarg)); |
||
| 550 | usmc_ReferenceMove (node, atoi(optarg)); |
||
| 551 | break; |
||
| 552 | |||
| 553 | case 'u': |
||
| 554 | usmc_EnableSwitches(node,1); |
||
| 555 | usmc_RelMove(node, atoi(optarg)); |
||
| 556 | usmc_EnableSwitches(node,0); |
||
| 557 | break; |
||
| 558 | |||
| 559 | default: /* '?' */ |
||
| 560 | help(); |
||
| 561 | |||
| 562 | break; |
||
| 563 | } |
||
| 564 | } |
||
| 565 | if (argc==1) help(); |
||
| 566 | |||
| 567 | |||
| 568 | USMC_Close (); |
||
| 569 | #ifdef _WINDOWS |
||
| 570 | getchar(); |
||
| 571 | #endif |
||
| 572 | return 0; |
||
| 573 | } |