emcmotglb.c

Source code for an Numeric Cmputer

/********************************************************************
* Description: emcmotglb.c
*   Compile-time configuration parameters
*
*   Set the values in emcmotcfg.h; these vars will be set to those values
*   and emcmot.c can reference the variables with their defaults. This file
*   exists to avoid having to recompile emcmot.c every time a default is
*   changed.
*
*   Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*    
* Copyright (c) 2004 All rights reserved.
*
* Last change:
* $Revision: 1.8 $
* $Author: paul_c $
* $Date: 2005/06/13 14:38:42 $
********************************************************************/

#include "emcmotglb.h"		/* these decls */
#include "emcmotcfg.h"		/* initial values */

char EMCMOT_INIFILE[EMCMOT_INIFILE_LEN] = DEFAULT_EMCMOT_INIFILE;

unsigned int SHMEM_KEY = DEFAULT_SHMEM_KEY;

double EMCMOT_COMM_TIMEOUT = DEFAULT_EMCMOT_COMM_TIMEOUT;
double EMCMOT_COMM_WAIT = DEFAULT_EMCMOT_COMM_WAIT;

int num_axes = EMCMOT_MAX_AXIS;

double TRAJ_CYCLE_TIME = DEFAULT_TRAJ_CYCLE_TIME;
double SERVO_CYCLE_TIME = DEFAULT_SERVO_CYCLE_TIME;

double VELOCITY = DEFAULT_VELOCITY;
double ACCELERATION = DEFAULT_ACCELERATION;

double MAX_LIMIT = DEFAULT_MAX_LIMIT;
double MIN_LIMIT = DEFAULT_MIN_LIMIT;

double MAX_OUTPUT = DEFAULT_MAX_OUTPUT;
double MIN_OUTPUT = DEFAULT_MIN_OUTPUT;

int TC_QUEUE_SIZE = DEFAULT_TC_QUEUE_SIZE;

int MMXAVG_SIZE = DEFAULT_MMXAVG_SIZE;

/*! \todo Another #if 0 */
#if 0
double tMmxavgSpace[DEFAULT_MMXAVG_SIZE];
double sMmxavgSpace[DEFAULT_MMXAVG_SIZE];
double nMmxavgSpace[DEFAULT_MMXAVG_SIZE];
#endif

double MAX_FERROR = DEFAULT_MAX_FERROR;

double P_GAIN = DEFAULT_P_GAIN;
double I_GAIN = DEFAULT_I_GAIN;
double D_GAIN = DEFAULT_D_GAIN;
double FF0_GAIN = DEFAULT_FF0_GAIN;
double FF1_GAIN = DEFAULT_FF1_GAIN;
double FF2_GAIN = DEFAULT_FF2_GAIN;
double BACKLASH = DEFAULT_BACKLASH;
double BIAS = DEFAULT_BIAS;
double MAX_ERROR = DEFAULT_MAX_ERROR;

double INPUT_SCALE = DEFAULT_INPUT_SCALE;
double INPUT_OFFSET = DEFAULT_INPUT_OFFSET;
double OUTPUT_SCALE = DEFAULT_OUTPUT_SCALE;
double OUTPUT_OFFSET = DEFAULT_OUTPUT_OFFSET;