c-motion.c

一个机器人的源代码.软件设计得超级好!是商业级代码.

PMDresult PMDResetEventStatus(PMDAxisInterface axis_intf, PMDuint16 eventStatus)
{
	return SendCommandWord(axis_intf, PMDOPResetEventStatus, eventStatus);
}

PMDresult PMDGetEventStatus(PMDAxisInterface axis_intf, PMDuint16* eventStatus)
{
	return SendCommandGetWord(axis_intf, PMDOPGetEventStatus, eventStatus);
}

PMDresult PMDGetActivityStatus(PMDAxisInterface axis_intf, PMDuint16* activityStatus)
{
	return SendCommandGetWord(axis_intf, PMDOPGetActivityStatus, activityStatus);
}

PMDresult PMDSetSignalSense(PMDAxisInterface axis_intf, PMDuint16 mask)
{
	return SendCommandWord(axis_intf, PMDOPSetSignalSense, mask);
}

PMDresult PMDGetSignalSense(PMDAxisInterface axis_intf, PMDuint16* mask)
{
	return SendCommandGetWord(axis_intf, PMDOPGetSignalSense, mask);
}

PMDresult PMDGetSignalStatus(PMDAxisInterface axis_intf, PMDuint16* signalStatus)
{
	return SendCommandGetWord(axis_intf, PMDOPGetSignalStatus, signalStatus);
}


///////////////////////////////////////////////////////////////////////////
// Encoder
PMDresult PMDAdjustActualPosition(PMDAxisInterface axis_intf, PMDint32 position)
{
	return SendCommandLong(axis_intf, PMDOPAdjustActualPosition, (PMDuint32)position);
}

PMDresult PMDSetActualPosition(PMDAxisInterface axis_intf, PMDint32 position)
{
	return SendCommandLong(axis_intf, PMDOPSetActualPosition, (PMDuint32)position);
}

PMDresult PMDGetActualPosition(PMDAxisInterface axis_intf, PMDint32* position)
{
	return SendCommandGetLong(axis_intf, PMDOPGetActualPosition, (PMDuint32*)position);
}

PMDresult PMDSetActualPositionUnits(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetActualPositionUnits, mode);
}

PMDresult PMDGetActualPositionUnits(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetActualPositionUnits, mode);
}

PMDresult PMDSetCaptureSource(PMDAxisInterface axis_intf, PMDuint16 captureSource)
{
	return SendCommandWord(axis_intf, PMDOPSetCaptureSource, captureSource);
}

PMDresult PMDGetCaptureSource(PMDAxisInterface axis_intf, PMDuint16* captureSource)
{
	return SendCommandGetWord(axis_intf, PMDOPGetCaptureSource, captureSource);
}

PMDresult PMDSetEncoderSource(PMDAxisInterface axis_intf, PMDuint16 encoderSource)
{
	return SendCommandWord(axis_intf, PMDOPSetEncoderSource, encoderSource);
}

PMDresult PMDGetEncoderSource(PMDAxisInterface axis_intf, PMDuint16* encoderSource)
{
	return SendCommandGetWord(axis_intf, PMDOPGetEncoderSource, encoderSource);
}

PMDresult PMDSetAuxiliaryEncoderSource(PMDAxisInterface axis_intf, PMDuint16 encoderSource)
{
	return SendCommandWord(axis_intf, PMDOPSetAuxiliaryEncoderSource, encoderSource);
}

PMDresult PMDGetAuxiliaryEncoderSource(PMDAxisInterface axis_intf, PMDuint16* encoderSource)
{
	return SendCommandGetWord(axis_intf, PMDOPGetAuxiliaryEncoderSource, encoderSource);
}

PMDresult PMDSetEncoderModulus(PMDAxisInterface axis_intf, PMDuint16 modulus)
{
	return SendCommandWord(axis_intf, PMDOPSetEncoderModulus, modulus);
}

PMDresult PMDGetEncoderModulus(PMDAxisInterface axis_intf, PMDuint16* modulus)
{
	return SendCommandGetWord(axis_intf, PMDOPGetEncoderModulus, modulus);
}

PMDresult PMDSetEncoderToStepRatio(PMDAxisInterface axis_intf, PMDuint16 encoderCounts, PMDuint16 steps)
{
	return SendCommandWordWord(axis_intf, PMDOPSetEncoderToStepRatio, encoderCounts, steps);
}

PMDresult PMDGetEncoderToStepRatio(PMDAxisInterface axis_intf, PMDuint16* encoderCounts, PMDuint16* steps)
{
	return SendCommandGetWordWord(axis_intf, PMDOPGetEncoderToStepRatio, encoderCounts, steps);
}

PMDresult PMDGetActualVelocity(PMDAxisInterface axis_intf, PMDint32* actualValue)
{
	return SendCommandGetLong(axis_intf, PMDOPGetActualVelocity, (PMDuint32*)actualValue);
}

PMDresult PMDGetCaptureValue(PMDAxisInterface axis_intf, PMDint32* captureValue)
{
	return SendCommandGetLong(axis_intf, PMDOPGetCaptureValue, (PMDuint32*)captureValue);
}



///////////////////////////////////////////////////////////////////////////
// Motor
PMDresult PMDSetMotorType(PMDAxisInterface axis_intf, PMDuint16 type)
{
	return SendCommandWord(axis_intf, PMDOPSetMotorType, type);
}

PMDresult PMDGetMotorType(PMDAxisInterface axis_intf, PMDuint16* type)
{
	return SendCommandGetWord(axis_intf, PMDOPGetMotorType, type);
}

PMDresult PMDSetOutputMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetOutputMode, mode);
}

PMDresult PMDGetOutputMode(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetOutputMode, mode);
}

PMDresult PMDSetMotorMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetMotorMode, mode);
}

PMDresult PMDGetMotorMode(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetMotorMode, mode);
}

PMDresult PMDSetMotorCommand(PMDAxisInterface axis_intf, PMDint16 motorCommand)
{
	return SendCommandWord(axis_intf, PMDOPSetMotorCommand, (PMDuint16)motorCommand);
}

PMDresult PMDGetMotorCommand(PMDAxisInterface axis_intf, PMDint16* motorCommand)
{
	return SendCommandGetWord(axis_intf, PMDOPGetMotorCommand, (PMDuint16*)motorCommand);
}

PMDresult PMDGetCurrentMotorCommand(PMDAxisInterface axis_intf, PMDint16* motorCommand)
{
	return SendCommandGetWord(axis_intf, PMDOPGetCurrentMotorCommand, (PMDuint16*)motorCommand);
}


///////////////////////////////////////////////////////////////////////////
// Commutation
PMDresult PMDSetPWMFrequency(PMDAxisInterface axis_intf, PMDuint16 frequency)
{
	return SendCommandWord(axis_intf, PMDOPSetPWMFrequency, frequency);
}

PMDresult PMDGetPWMFrequency(PMDAxisInterface axis_intf, PMDuint16* frequency)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPWMFrequency, frequency);
}

PMDresult PMDSetCommutationMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetCommutationMode, mode);
}

PMDresult PMDGetCommutationMode(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetCommutationMode, mode);
}

PMDresult PMDSetNumberPhases( PMDAxisInterface axis_intf, PMDuint16 numPhases)
{
	return SendCommandWord(axis_intf, PMDOPSetNumberPhases, numPhases);
}

PMDresult PMDGetNumberPhases( PMDAxisInterface axis_intf, PMDuint16* numPhases)
{
	return SendCommandGetWord(axis_intf, PMDOPGetNumberPhases, numPhases);
}

PMDresult PMDSetPhaseInitializeMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseInitializeMode, mode);
}

PMDresult PMDGetPhaseInitializeMode(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseInitializeMode, mode);
}

PMDresult PMDSetPhasePrescale(PMDAxisInterface axis_intf, PMDuint16 phasePrescale)
{
	return SendCommandWord(axis_intf, PMDOPSetPhasePrescale, phasePrescale);
}

PMDresult PMDGetPhasePrescale(PMDAxisInterface axis_intf, PMDuint16* phasePrescale)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhasePrescale, phasePrescale);
}

PMDresult PMDSetPhaseCounts(PMDAxisInterface axis_intf, PMDuint16 phaseCounts)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseCounts, phaseCounts);
}

PMDresult PMDGetPhaseCounts(PMDAxisInterface axis_intf, PMDuint16* phaseCounts)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseCounts, phaseCounts);
}

PMDresult PMDSetPhaseInitializeTime(PMDAxisInterface axis_intf, PMDuint16 phaseInitTime)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseInitializeTime, phaseInitTime);
}

PMDresult PMDGetPhaseInitializeTime(PMDAxisInterface axis_intf, PMDuint16* phaseInitTime)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseInitializeTime, phaseInitTime);
}

PMDresult PMDSetPhaseOffset(PMDAxisInterface axis_intf, PMDuint16 phaseOffset)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseOffset, phaseOffset);
}

PMDresult PMDGetPhaseOffset(PMDAxisInterface axis_intf, PMDuint16* phaseOffset)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseOffset, phaseOffset);
}

PMDresult PMDSetPhaseAngle(PMDAxisInterface axis_intf, PMDuint16 phaseAngle)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseAngle, phaseAngle);
}

PMDresult PMDGetPhaseAngle(PMDAxisInterface axis_intf, PMDuint16* phaseAngle)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseAngle, phaseAngle);
}

PMDresult PMDSetPhaseCorrectionMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{
	return SendCommandWord(axis_intf, PMDOPSetPhaseCorrectionMode, mode);
}

PMDresult PMDGetPhaseCorrectionMode(PMDAxisInterface axis_intf, PMDuint16* mode)
{
	return SendCommandGetWord(axis_intf, PMDOPGetPhaseCorrectionMode, mode);
}

PMDresult PMDInitializePhase(PMDAxisInterface axis_intf)
{
	return SendCommand(axis_intf, PMDOPInitializePhase);
}

PMDresult PMDGetPhaseCommand(PMDAxisInterface axis_intf, PMDuint16 phase, PMDint16* command)
{
	return SendCommandWordGetWord(axis_intf, PMDOPGetPhaseCommand, phase, (PMDuint16*)command);
}


///////////////////////////////////////////////////////////////////////////
// External Memory
PMDresult PMDSetBufferStart(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 bufferStart)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordLong(axis_intf, PMDOPSetBufferStart, bufferID, bufferStart);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDGetBufferStart(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* bufferStart)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordGetLong(axis_intf, PMDOPGetBufferStart, bufferID, bufferStart);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDSetBufferLength(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 bufferLength)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordLong(axis_intf, PMDOPSetBufferLength, bufferID, bufferLength);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDGetBufferLength(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* bufferLength)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordGetLong(axis_intf, PMDOPGetBufferLength, bufferID, bufferLength);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDSetBufferFunction(PMDAxisInterface axis_intf, PMDuint16 function, PMDint16 bufferID)
{
	return SendCommandWordWord(axis_intf, PMDOPSetBufferFunction, function, (PMDuint16)bufferID);
}

PMDresult PMDGetBufferFunction(PMDAxisInterface axis_intf, PMDuint16 function, PMDint16* bufferID)
{
	return SendCommandWordGetWord(axis_intf, PMDOPGetBufferFunction, function, (PMDuint16*)bufferID);
}

PMDresult PMDWriteBuffer(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDint32 data)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordLong(axis_intf, PMDOPWriteBuffer, bufferID, (PMDuint32)data);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDReadBuffer(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDint32* data)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordGetLong(axis_intf, PMDOPReadBuffer, bufferID, (PMDuint32*)data);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDSetBufferWriteIndex(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 writeIndex)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordLong(axis_intf, PMDOPSetBufferWriteIndex, bufferID, writeIndex);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDGetBufferWriteIndex(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* writeIndex)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordGetLong(axis_intf, PMDOPGetBufferWriteIndex, bufferID, writeIndex);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDSetBufferReadIndex(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32 readIndex)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordLong(axis_intf, PMDOPSetBufferReadIndex, bufferID, readIndex);

	axis_intf->axis = axis;

	return result;
}

PMDresult PMDGetBufferReadIndex(PMDAxisInterface axis_intf, PMDuint16 bufferID, PMDuint32* readIndex)
{
	PMDAxis axis = axis_intf->axis;
	PMDuint16 result;

	// set the axis number to zero
	axis_intf->axis = 0;

	result = SendCommandWordGetLong(axis_intf, PMDOPGetBufferReadIndex, bufferID, readIndex);

	axis_intf->axis = axis;

	return result;
}


///////////////////////////////////////////////////////////////////////////
// Trace Operations
PMDresult PMDSetTraceMode(PMDAxisInterface axis_intf, PMDuint16 mode)
{