c-motion.h

一个机器人的源代码.软件设计得超级好!是商业级代码.

// Encoder
extern PMDresult PMDAdjustActualPosition      (PMDAxisInterface axis_intf, PMDint32 position);
extern PMDresult PMDSetActualPosition         (PMDAxisInterface axis_intf, PMDint32 position);
extern PMDresult PMDGetActualPosition         (PMDAxisInterface axis_intf, PMDint32* position);
extern PMDresult PMDSetActualPositionUnits    (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetActualPositionUnits    (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetCaptureSource          (PMDAxisInterface axis_intf, PMDuint16 captureSource);
extern PMDresult PMDGetCaptureSource          (PMDAxisInterface axis_intf, PMDuint16* captureSource);
extern PMDresult PMDSetEncoderSource          (PMDAxisInterface axis_intf, PMDuint16 encoderSource);
extern PMDresult PMDGetEncoderSource          (PMDAxisInterface axis_intf, PMDuint16* encoderSource);
extern PMDresult PMDSetEncoderModulus         (PMDAxisInterface axis_intf, PMDuint16 modulus);
extern PMDresult PMDGetEncoderModulus         (PMDAxisInterface axis_intf, PMDuint16* modulus);
extern PMDresult PMDSetEncoderToStepRatio     (PMDAxisInterface axis_intf, PMDuint16 encoderCounts, PMDuint16 steps);
extern PMDresult PMDGetEncoderToStepRatio     (PMDAxisInterface axis_intf, PMDuint16* encoderCounts, PMDuint16* steps);
extern PMDresult PMDGetActualVelocity         (PMDAxisInterface axis_intf, PMDint32* actualValue);
extern PMDresult PMDGetCaptureValue           (PMDAxisInterface axis_intf, PMDint32* captureValue);
extern PMDresult PMDSetAuxiliaryEncoderSource (PMDAxisInterface axis_intf, PMDuint16 encoderSource);
extern PMDresult PMDGetAuxiliaryEncoderSource (PMDAxisInterface axis_intf, PMDuint16* encoderSource);


// Motor
extern PMDresult PMDSetMotorType              (PMDAxisInterface axis_intf, PMDuint16 type);
extern PMDresult PMDGetMotorType              (PMDAxisInterface axis_intf, PMDuint16* type);
extern PMDresult PMDSetOutputMode             (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetOutputMode             (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetMotorMode              (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetMotorMode              (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetMotorCommand           (PMDAxisInterface axis_intf, PMDint16 motorCommand);
extern PMDresult PMDGetMotorCommand           (PMDAxisInterface axis_intf, PMDint16* motorCommand);
extern PMDresult PMDGetCurrentMotorCommand    (PMDAxisInterface axis_intf, PMDint16* motorCommand);


// Commutation
extern PMDresult PMDSetPWMFrequency           (PMDAxisInterface axis_intf, PMDuint16 frequency);
extern PMDresult PMDGetPWMFrequency           (PMDAxisInterface axis_intf, PMDuint16* frequency);
extern PMDresult PMDSetCommutationMode        (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetCommutationMode        (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetPhaseInitializeMode    (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetPhaseInitializeMode    (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetPhasePrescale          (PMDAxisInterface axis_intf, PMDuint16 phasePrescale);
extern PMDresult PMDGetPhasePrescale          (PMDAxisInterface axis_intf, PMDuint16* phasePrescale);
extern PMDresult PMDSetPhaseCounts            (PMDAxisInterface axis_intf, PMDuint16 phaseCounts);
extern PMDresult PMDGetPhaseCounts            (PMDAxisInterface axis_intf, PMDuint16* phaseCounts);
extern PMDresult PMDSetPhaseInitializeTime    (PMDAxisInterface axis_intf, PMDuint16 phaseInitTime);
extern PMDresult PMDGetPhaseInitializeTime    (PMDAxisInterface axis_intf, PMDuint16* phaseInitTime);
extern PMDresult PMDSetPhaseOffset            (PMDAxisInterface axis_intf, PMDuint16 phaseOffset);
extern PMDresult PMDGetPhaseOffset            (PMDAxisInterface axis_intf, PMDuint16* phaseOffset);
extern PMDresult PMDSetPhaseAngle             (PMDAxisInterface axis_intf, PMDuint16 phaseAngle);
extern PMDresult PMDGetPhaseAngle             (PMDAxisInterface axis_intf, PMDuint16* phaseAngle);
extern PMDresult PMDSetPhaseCorrectionMode    (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetPhaseCorrectionMode    (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDInitializePhase           (PMDAxisInterface axis_intf);
extern PMDresult PMDGetPhaseCommand           (PMDAxisInterface axis_intf, PMDuint16 phase, PMDint16* command);


// External Memory
extern PMDresult PMDSetBufferStart            (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 bufferStart);
extern PMDresult PMDGetBufferStart            (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* bufferStart);
extern PMDresult PMDSetBufferLength           (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 bufferLength);
extern PMDresult PMDGetBufferLength           (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* bufferLength);
extern PMDresult PMDSetBufferFunction         (PMDAxisInterface axis_intf, PMDuint16 function, PMDint16 bufferID);
extern PMDresult PMDGetBufferFunction         (PMDAxisInterface axis_intf, PMDuint16 function, PMDint16* bufferID);
extern PMDresult PMDWriteBuffer               (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDint32 data);
extern PMDresult PMDReadBuffer                (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDint32* data);
extern PMDresult PMDSetBufferWriteIndex       (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 writeIndex);
extern PMDresult PMDGetBufferWriteIndex       (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* writeIndex);
extern PMDresult PMDSetBufferReadIndex        (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 readIndex);
extern PMDresult PMDGetBufferReadIndex        (PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* readIndex);


// Trace Operations
extern PMDresult PMDSetTraceMode              (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetTraceMode              (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetTracePeriod            (PMDAxisInterface axis_intf, PMDuint16 tracePeriod);
extern PMDresult PMDGetTracePeriod            (PMDAxisInterface axis_intf, PMDuint16 *tracePeriod);
extern PMDresult PMDSetTraceVariable          (PMDAxisInterface axis_intf, PMDuint16 traceID, PMDAxis traceAxis, PMDuint8 variable);
extern PMDresult PMDGetTraceVariable          (PMDAxisInterface axis_intf, PMDuint16 traceID, PMDAxis *traceAxis, PMDuint8* variable);
extern PMDresult PMDSetTraceStart             (PMDAxisInterface axis_intf, PMDAxis traceAxis, PMDuint8 condition, PMDuint8 bit, PMDuint8 state);
extern PMDresult PMDGetTraceStart             (PMDAxisInterface axis_intf, PMDAxis *traceAxis, PMDuint8* condition, PMDuint8* bit, PMDuint8* state);
extern PMDresult PMDSetTraceStop              (PMDAxisInterface axis_intf, PMDAxis traceAxis, PMDuint8 condition, PMDuint8 bit, PMDuint8 state);
extern PMDresult PMDGetTraceStop              (PMDAxisInterface axis_intf, PMDAxis *traceAxis, PMDuint8* condition, PMDuint8* bit, PMDuint8* state);
extern PMDresult PMDGetTraceStatus            (PMDAxisInterface axis_intf, PMDuint16* status);
extern PMDresult PMDGetTraceCount             (PMDAxisInterface axis_intf, PMDuint32* count);


// Miscellaneous
extern PMDresult PMDSetAxisMode               (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetAxisMode               (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetAxisOutSource          (PMDAxisInterface axis_intf, PMDAxis outAxis, PMDuint8 bit, PMDuint8 sourceRegister);
extern PMDresult PMDGetAxisOutSource          (PMDAxisInterface axis_intf, PMDAxis *outAxis, PMDuint8 *bit, PMDuint8* sourceRegister);
extern PMDresult PMDWriteIO                   (PMDAxisInterface axis_intf, PMDuint16 address, PMDuint16 data);
extern PMDresult PMDReadIO                    (PMDAxisInterface axis_intf, PMDuint16 address, PMDuint16 *data);
extern PMDresult PMDReadAnalog                (PMDAxisInterface axis_intf, PMDuint16 analogID, PMDuint16 *data);
extern PMDresult PMDReset                     (PMDAxisInterface axis_intf);
extern PMDresult PMDNoOperation               (PMDAxisInterface axis_intf);
extern PMDresult PMDGetVersion                (PMDAxisInterface axis_intf, PMDuint16 *family, PMDuint16 *motorType, PMDuint16 *numberAxes, PMDuint16 *special_and_chip_count, PMDuint16 *custom, PMDuint16 *major, PMDuint16 *minor);
extern PMDresult PMDGetHostIOError            (PMDAxisInterface axis_intf, PMDuint16 *hostIOError);

extern PMDresult PMDSetSerialPortMode         (PMDAxisInterface axis_intf, PMDuint8 baud, PMDuint8 parity, PMDuint8 stopBits, PMDuint8 protocol, PMDuint8 multiDropID);
extern PMDresult PMDGetSerialPortMode         (PMDAxisInterface axis_intf, PMDuint8* baud, PMDuint8* parity, PMDuint8* stopBits, PMDuint8* protocol, PMDuint8* multiDropID);

extern PMDresult PMDGetTime                   (PMDAxisInterface axis_intf, PMDuint32 *numberServoCycles);

extern PMDresult PMDGetChecksum               (PMDAxisInterface axis_intf, PMDuint32* checksum);

extern PMDresult PMDSetStepRange              (PMDAxisInterface axis_intf, PMDuint16 range);
extern PMDresult PMDGetStepRange              (PMDAxisInterface axis_intf, PMDuint16* range);
extern PMDresult PMDSetSynchronizationMode    (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetSynchronizationMode    (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetSPIMode                (PMDAxisInterface axis_intf, PMDuint16 mode);
extern PMDresult PMDGetSPIMode                (PMDAxisInterface axis_intf, PMDuint16* mode);
extern PMDresult PMDSetCANMode                (PMDAxisInterface axis_intf, PMDuint8 baud, PMDuint8 nodeID);
extern PMDresult PMDGetCANMode                (PMDAxisInterface axis_intf, PMDuint8* baud, PMDuint8* nodeID);


// C-Motion provided functions
extern PMDresult PMDGetStatus                 (PMDAxisInterface axis_intf);
extern PMDresult PMDHasError                  (PMDAxisInterface axis_intf);
extern PMDresult PMDIsReady                   (PMDAxisInterface axis_intf);
extern PMDresult PMDHasInterrupt              (PMDAxisInterface axis_intf);
extern PMDresult PMDHardReset                 (PMDAxisInterface axis_intf);
extern void PMDCloseAxisInterface             (PMDAxisInterface axis_intf);

extern void PMDGetCMotionVersion              (PMDuint8* MajorVersion, PMDuint8* MinorVersion);

#if defined(__cplusplus)
}
#endif

#endif