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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: Linkage Class Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>Linkage Class Reference</h1><!-- doxytag: class="Linkage" --><!-- doxytag: inherits="Thread" --><p>Inheritance diagram for Linkage:<p><center><img src="classLinkage.png" usemap="#Linkage_map" border="0" alt=""></center><map name="Linkage_map"><area href="classThread.html" alt="Thread" shape="rect" coords="0,0,56,24"></map><a href="classLinkage-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>Linkage object, used for controlling a group of coordinated amplifiers. <p><p>Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00218">218</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a0">Linkage</a> ()</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a1"></a><!-- doxytag: member="Linkage::~Linkage" ref="a1" args="()" -->virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a1">~Linkage</a> ()</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Linkage object destructor. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a2">Init</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> ct, <a class="el" href="classAmp.html">Amp</a> a[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize a new linkage object. <a href="#a2"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a3">Init</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> ct, <a class="el" href="classAmp.html">Amp</a> *a[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize a new linkage object. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a4">Configure</a> (<a class="el" href="classLinkSettings.html">LinkSettings</a> &settings)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Configure a linkage. <a href="#a4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classAmp.html">Amp</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a5">GetAmp</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> i)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get a reference to the amplifier object at the specified location in the linkage. <a href="#a5"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a6">MoveTo</a> (<a class="el" href="classPointN.html">PointN</a> &p, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> acc, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> dec, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> jrk, bool start=true)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Move to a point in space. <a href="#a6"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a7">SetMoveLimits</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> acc, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> dec, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> jrk)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Set limits used for multi-axis point-to-point moves. <a href="#a7"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a8">GetMoveLimits</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> &vel, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> &acc, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> &dec, <a class="el" href="CML__Utils_8h.html#a11">uunit</a> &jrk)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the move limits currently set for this linkage. <a href="#a8"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a9">MoveTo</a> (<a class="el" href="classPointN.html">PointN</a> &p, bool start=true)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Move to a specified position. <a href="#a9"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a10">StartMove</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Start the moves that have already been programmed into all axes of this linkage. <a href="#a10"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a11">WaitMoveDone</a> (<a class="el" href="CML__Utils_8h.html#a9">int32</a> timeout=-1)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Wait for the currently running move to finish, or for an error to occur. <a href="#a11"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a12">WaitEvent</a> (<a class="el" href="classEvent.html">Event</a> &e, <a class="el" href="CML__Utils_8h.html#a9">int32</a> timeout, <a class="el" href="CML__Linkage_8h.html#a15">LINK_EVENT</a> &match)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Wait for a linkage event condition. <a href="#a12"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a13">WaitEvent</a> (<a class="el" href="classEvent.html">Event</a> &e, <a class="el" href="CML__Utils_8h.html#a9">int32</a> timeout=-1)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Wait for a linkage event condition. <a href="#a13"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a14">HaltMove</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Halt the current move. <a href="#a14"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a16">GetLatchedError</a> (int &amp)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return any latched error codes held by the linkage object. <a href="#a16"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a17">ClearLatchedError</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Clear any latched errors. <a href="#a17"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classAmp.html">Amp</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a18">operator[]</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> i)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return a reference to the specified amplifier object in this linkage. <a href="#a18"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a19">GetAmpCount</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the number of amplifiers associated with this linkage. <a href="#a19"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="CML__Utils_8h.html#a8">uint16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a20">GetAxesCount</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the number of independent axes associated with this linkage. <a href="#a20"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a21">GetPositionCommand</a> (<a class="el" href="classPointN.html">PointN</a> &p)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current commanded position of the linkage. <a href="#a21"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a22">ConvertAmpToAxisPos</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Convert the linkage position from the amplifier frame to the axis frame. <a href="#a22"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a23">ConvertAxisToAmpPos</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Convert the linkage position from the axis frame to the amplifier frame. <a href="#a23"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a24">ConvertAmpToAxis</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[], <a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Convert position & velocity information from the amplifier frame to the axis frame. <a href="#a24"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#a25">ConvertAxisToAmp</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[], <a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Convert position & velocity information from the axis frame to the amplifier frame. <a href="#a25"></a><br></td></tr><tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o0"></a><!-- doxytag: member="Linkage::eventMap" ref="o0" args="" --><a class="el" href="classEventMap.html">EventMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#o0">eventMap</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This is an event map that is used to track linkage events and state changes. <br></td></tr><tr><td colspan="2"><br><h2>Friends</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="n0"></a><!-- doxytag: member="Linkage::AmpTrj" ref="n0" args="" -->class </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#n0">AmpTrj</a></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="n1"></a><!-- doxytag: member="Linkage::StateEvent" ref="n1" args="" -->class </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#n1">StateEvent</a></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="n2"></a><!-- doxytag: member="Linkage::Amp" ref="n2" args="" -->class </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkage.html#n2">Amp</a></td></tr><tr><td colspan="2"><br><h2>Classes</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><b>AmpTrj</b></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Utility class used internally by the linkage object. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><b>StateEvent</b></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Utility class used to keep the linkage status up to date as the status of it's amplifiers change. <br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="Linkage::Linkage" ref="a0" args="()" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="classLinkage.html">Linkage</a> </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Default constructor. <p><a class="el" href="classLinkage.html#a2">Linkage::Init</a> must be called before this linkage object may be used.<p>Definition at line <a class="el" href="Linkage_8cpp-source.html#l00047">47</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>. </td> </tr></table><hr><h2>Member Function Documentation</h2><a class="anchor" name="a17"></a><!-- doxytag: member="Linkage::ClearLatchedError" ref="a17" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">void ClearLatchedError </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Clear any latched errors. <p>This function clears the latched error information returned by <a class="el" href="classLinkage.html#a16">Linkage::GetLatchedError()</a>. Latched errors are automatically cleared at the start of a new move. This call may be used to clear latched error information at any other time. <p>Definition at line <a class="el" href="CML__Linkage_8h-source.html#l00263">263</a> of file <a class="el" href="CML__Linkage_8h-source.html">CML_Linkage.h</a>. </td> </tr></table><a class="anchor" name="a4"></a><!-- doxytag: member="Linkage::Configure" ref="a4" args="(LinkSettings &settings)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * Configure </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="classLinkSettings.html">LinkSettings</a> & </td> <td class="mdname1" valign="top" nowrap> <em>settings</em> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Configure a linkage. <p>The linkage object will be configured to use the various settings passed in the <a class="el" href="classLinkSettings.html">LinkSettings</a> object.<p>When a new Linkage object is created, it will be configured using a default set of settings. These settings can be modified through this call. Set the documentation of the <a class="el" href="classLinkSettings.html">LinkSettings</a> object for details of the available settings and their default values.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>settings</em> </td><td>The new settings to be used. A local copy of this object will be made by the linkage.</td></tr> </table></dl><p>Definition at line <a class="el" href="Linkage_8cpp-source.html#l00107">107</a> of file <a class="el" href="Linkage_8cpp-source.html">Linkage.cpp</a>. </td> </tr></table><a class="anchor" name="a24"></a><!-- doxytag: member="Linkage::ConvertAmpToAxis" ref="a24" args="(uunit pos[], uunit vel[])" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* ConvertAmpToAxis </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td> <td class="mdname" nowrap> <em>pos</em>[], </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td>⌨️ 快捷键说明
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