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<a name="l00424"></a>00424 <span class="comment">  related to point-to-point profile moves.</span>
<a name="l00425"></a>00425 <span class="comment">  */</span>
<a name="l00426"></a>00426 <span class="comment">/***************************************************************************/</span>
<a name="l00427"></a><a class="code" href="structProfileConfig.html">00427</a> <span class="keyword">struct </span><a class="code" href="structProfileConfig.html">ProfileConfig</a>
<a name="l00428"></a>00428 {<span class="comment"></span>
<a name="l00429"></a>00429 <span class="comment">   /// Type of profile to be used.</span>
<a name="l00430"></a><a class="code" href="structProfileConfig.html#o0">00430</a> <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a404">PROFILE_TYPE</a> <a class="code" href="structProfileConfig.html#o0">type</a>;
<a name="l00431"></a>00431 <span class="comment"></span>
<a name="l00432"></a>00432 <span class="comment">   /// For absolute moves this is an absolute position,</span>
<a name="l00433"></a>00433 <span class="comment">   /// for relative moves it's a distance to move.</span>
<a name="l00434"></a><a class="code" href="structProfileConfig.html#o1">00434</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o1">pos</a>;
<a name="l00435"></a>00435 <span class="comment"></span>
<a name="l00436"></a>00436 <span class="comment">   /// Velocity limit for move.</span>
<a name="l00437"></a><a class="code" href="structProfileConfig.html#o2">00437</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o2">vel</a>;
<a name="l00438"></a>00438 <span class="comment"></span>
<a name="l00439"></a>00439 <span class="comment">   /// Acceleration limit for move.</span>
<a name="l00440"></a><a class="code" href="structProfileConfig.html#o3">00440</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o3">acc</a>;
<a name="l00441"></a>00441 <span class="comment"></span>
<a name="l00442"></a>00442 <span class="comment">   /// Deceleration limit for move.</span>
<a name="l00443"></a><a class="code" href="structProfileConfig.html#o4">00443</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o4">dec</a>;
<a name="l00444"></a>00444 <span class="comment"></span>
<a name="l00445"></a>00445 <span class="comment">   /// Acceleration value to use when aborting a running</span>
<a name="l00446"></a>00446 <span class="comment">   /// trajectory.  This is the same as the 'quick stop'</span>
<a name="l00447"></a>00447 <span class="comment">   /// deceleration.</span>
<a name="l00448"></a><a class="code" href="structProfileConfig.html#o5">00448</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o5">abort</a>;
<a name="l00449"></a>00449 <span class="comment"></span>
<a name="l00450"></a>00450 <span class="comment">   /// Jerk limit for move.</span>
<a name="l00451"></a><a class="code" href="structProfileConfig.html#o6">00451</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfig.html#o6">jrk</a>;
<a name="l00452"></a>00452 <span class="comment"></span>
<a name="l00453"></a>00453 <span class="comment">   /// Default constructor.  Simply set all parameters to zero.</span>
<a name="l00454"></a><a class="code" href="structProfileConfig.html#a0">00454</a> <span class="comment"></span>   <a class="code" href="structProfileConfig.html#a0">ProfileConfig</a>( <span class="keywordtype">void</span> )
<a name="l00455"></a>00455    {
<a name="l00456"></a>00456       <a class="code" href="structProfileConfig.html#o0">type</a> = <a class="code" href="CML__AmpDef_8h.html#a404a318">PROFILE_TRAP</a>;
<a name="l00457"></a>00457       <a class="code" href="structProfileConfig.html#o1">pos</a> = <a class="code" href="structProfileConfig.html#o2">vel</a> = <a class="code" href="structProfileConfig.html#o3">acc</a> = <a class="code" href="structProfileConfig.html#o4">dec</a> = <a class="code" href="structProfileConfig.html#o6">jrk</a> = <a class="code" href="structProfileConfig.html#o5">abort</a> = 0;
<a name="l00458"></a>00458    }
<a name="l00459"></a>00459 };
<a name="l00460"></a>00460 
<a name="l00461"></a>00461 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00462"></a>00462 <span class="comment">/**</span>
<a name="l00463"></a>00463 <span class="comment">  Position and velocity error windows.</span>
<a name="l00464"></a>00464 <span class="comment">  */</span>
<a name="l00465"></a>00465 <span class="comment">/***************************************************************************/</span>
<a name="l00466"></a><a class="code" href="structTrackingWindows.html">00466</a> <span class="keyword">struct </span><a class="code" href="structTrackingWindows.html">TrackingWindows</a>
<a name="l00467"></a>00467 {<span class="comment"></span>
<a name="l00468"></a>00468 <span class="comment">   /// Tracking error window.  </span>
<a name="l00469"></a>00469 <span class="comment">   /// See Amp::SetPositionErrorWindow for more information</span>
<a name="l00470"></a><a class="code" href="structTrackingWindows.html#o0">00470</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structTrackingWindows.html#o0">trackErr</a>;
<a name="l00471"></a>00471 <span class="comment"></span>
<a name="l00472"></a>00472 <span class="comment">   /// Position warning window.</span>
<a name="l00473"></a>00473 <span class="comment">   /// See Amp::SetPositionWarnWindow for more information</span>
<a name="l00474"></a><a class="code" href="structTrackingWindows.html#o1">00474</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structTrackingWindows.html#o1">trackWarn</a>;
<a name="l00475"></a>00475 <span class="comment"></span>
<a name="l00476"></a>00476 <span class="comment">   /// Position tracking &amp; settling window.</span>
<a name="l00477"></a>00477 <span class="comment">   /// See Amp::SetSettlingWindow for more information</span>
<a name="l00478"></a><a class="code" href="structTrackingWindows.html#o2">00478</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structTrackingWindows.html#o2">settlingWin</a>;
<a name="l00479"></a>00479 <span class="comment"></span>
<a name="l00480"></a>00480 <span class="comment">   /// Position tracking &amp; settling time (ms).</span>
<a name="l00481"></a>00481 <span class="comment">   /// See Amp::SetSettlingTime for more info</span>
<a name="l00482"></a><a class="code" href="structTrackingWindows.html#o3">00482</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="structTrackingWindows.html#o3">settlingTime</a>;
<a name="l00483"></a>00483 <span class="comment"></span>
<a name="l00484"></a>00484 <span class="comment">   /// Velocity warning window</span>
<a name="l00485"></a>00485 <span class="comment">   /// See Amp::SetVelocityWarnWindow for more information</span>
<a name="l00486"></a><a class="code" href="structTrackingWindows.html#o4">00486</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structTrackingWindows.html#o4">velWarnWin</a>;
<a name="l00487"></a>00487 <span class="comment"></span>
<a name="l00488"></a>00488 <span class="comment">   /// Velocity warning window time</span>
<a name="l00489"></a>00489 <span class="comment">   /// See Amp::SetVelocityWarnTime for more information</span>
<a name="l00490"></a><a class="code" href="structTrackingWindows.html#o5">00490</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="structTrackingWindows.html#o5">velWarnTime</a>;
<a name="l00491"></a>00491 
<a name="l00492"></a>00492    <a class="code" href="structTrackingWindows.html#a0">TrackingWindows</a>( <span class="keywordtype">void</span> );
<a name="l00493"></a>00493 };
<a name="l00494"></a>00494 
<a name="l00495"></a>00495 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00496"></a>00496 <span class="comment">/**</span>
<a name="l00497"></a>00497 <span class="comment">  Motor information structure.  This structure holds information about the </span>
<a name="l00498"></a>00498 <span class="comment">  motor connected to the amplifier.</span>
<a name="l00499"></a>00499 <span class="comment"></span>
<a name="l00500"></a>00500 <span class="comment">  The amplifier uses the information in this structure when controlling the</span>
<a name="l00501"></a>00501 <span class="comment">  motor.  It is very important that the information provided to the amplifier</span>
<a name="l00502"></a>00502 <span class="comment">  be as accurate as possible for proper motor control.</span>
<a name="l00503"></a>00503 <span class="comment"></span>
<a name="l00504"></a>00504 <span class="comment">  Use the methods Amp::GetMtrInfo and Amp::SetMtrInfo to upload / download</span>
<a name="l00505"></a>00505 <span class="comment">  the information contained in this structure.</span>
<a name="l00506"></a>00506 <span class="comment"></span>
<a name="l00507"></a>00507 <span class="comment">  Note that unlike many amplifier parameters, motor parameters are always </span>
<a name="l00508"></a>00508 <span class="comment">  stored in non-volatile flash memory.</span>
<a name="l00509"></a>00509 <span class="comment">  */</span>
<a name="l00510"></a>00510 <span class="comment">/***************************************************************************/</span>
<a name="l00511"></a><a class="code" href="structMtrInfo.html">00511</a> <span class="keyword">struct </span><a class="code" href="structMtrInfo.html">MtrInfo</a>
<a name="l00512"></a>00512 {<span class="comment"></span>
<a name="l00513"></a>00513 <span class="comment">   /// Motor type</span>
<a name="l00514"></a><a class="code" href="structMtrInfo.html#o0">00514</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="structMtrInfo.html#o0">type</a>;
<a name="l00515"></a>00515 <span class="comment"></span>
<a name="l00516"></a>00516 <span class="comment">   /// Name of the motor manufacturer</span>
<a name="l00517"></a><a class="code" href="structMtrInfo.html#o1">00517</a> <span class="comment"></span>   <span class="keywordtype">char</span> <a class="code" href="structMtrInfo.html#o1">mfgName</a>[ <a class="code" href="CML__AmpStruct_8h.html#a0">COPLEY_MAX_STRING</a> ];
<a name="l00518"></a>00518 <span class="comment"></span>
<a name="l00519"></a>00519 <span class="comment">   /// Motor model number</span>
<a name="l00520"></a><a class="code" href="structMtrInfo.html#o2">00520</a> <span class="comment"></span>   <span class="keywordtype">char</span> <a class="code" href="structMtrInfo.html#o2">model</a>[ <a class="code" href="CML__AmpStruct_8h.html#a0">COPLEY_MAX_STRING</a> ];
<a name="l00521"></a>00521 <span class="comment"></span>
<a name="l00522"></a>00522 <span class="comment">   /// Number of pole pairs (i.e. number of electrical phases) </span>
<a name="l00523"></a>00523 <span class="comment">   /// per rotation.  Used for rotory motors only.</span>
<a name="l00524"></a><a class="code" href="structMtrInfo.html#o3">00524</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a7">int16</a> <a class="code" href="structMtrInfo.html#o3">poles</a>;
<a name="l00525"></a>00525 <span class="comment"></span>
<a name="l00526"></a>00526 <span class="comment">   /// Motor resistance (10 milliohm units)</span>
<a name="l00527"></a