cml__amp_8h-source.html

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<a name="l00380"></a>00380 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00381"></a>00381 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00382"></a><a class="code" href="structProfileConfigTrap.html#o2">00382</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigTrap.html#o2">acc</a>;
<a name="l00383"></a>00383 <span class="comment"></span>
<a name="l00384"></a>00384 <span class="comment">   /// Deceleration limit for move.</span>
<a name="l00385"></a>00385 <span class="comment">   ///</span>
<a name="l00386"></a>00386 <span class="comment">   /// Note that if this parameter is not set, then the </span>
<a name="l00387"></a>00387 <span class="comment">   /// acceleration value will be used for deceleration.</span>
<a name="l00388"></a>00388 <span class="comment">   ///</span>
<a name="l00389"></a>00389 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00390"></a>00390 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00391"></a><a class="code" href="structProfileConfigTrap.html#o3">00391</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigTrap.html#o3">dec</a>;
<a name="l00392"></a>00392 <span class="comment"></span>
<a name="l00393"></a>00393 <span class="comment">   /// Default constructor.  Simply set all parameters to zero.</span>
<a name="l00394"></a><a class="code" href="structProfileConfigTrap.html#a0">00394</a> <span class="comment"></span>   <a class="code" href="structProfileConfigTrap.html#a0">ProfileConfigTrap</a>( <span class="keywordtype">void</span> )
<a name="l00395"></a>00395    {
<a name="l00396"></a>00396       <a class="code" href="structProfileConfigTrap.html#o0">pos</a> = <a class="code" href="structProfileConfigTrap.html#o1">vel</a> = <a class="code" href="structProfileConfigTrap.html#o2">acc</a> = <a class="code" href="structProfileConfigTrap.html#o3">dec</a> = 0;
<a name="l00397"></a>00397    }
<a name="l00398"></a>00398 };
<a name="l00399"></a>00399 
<a name="l00400"></a>00400 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00401"></a>00401 <span class="comment">/**</span>
<a name="l00402"></a>00402 <span class="comment">S-curve profile parameters.  This structure holds all the parameters </span>
<a name="l00403"></a>00403 <span class="comment">necessary to perform a s-curve (jerk limited) profile move.</span>
<a name="l00404"></a>00404 <span class="comment">*/</span>
<a name="l00405"></a>00405 <span class="comment">/***************************************************************************/</span>
<a name="l00406"></a><a class="code" href="structProfileConfigScurve.html">00406</a> <span class="keyword">struct </span><a class="code" href="structProfileConfigScurve.html">ProfileConfigScurve</a>
<a name="l00407"></a>00407 {<span class="comment"></span>
<a name="l00408"></a>00408 <span class="comment">   /// For absolute moves this is an absolute position,</span>
<a name="l00409"></a>00409 <span class="comment">   /// for relative moves it's a distance to move.</span>
<a name="l00410"></a>00410 <span class="comment">   ///</span>
<a name="l00411"></a>00411 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00412"></a>00412 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00413"></a><a class="code" href="structProfileConfigScurve.html#o0">00413</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigScurve.html#o0">pos</a>;
<a name="l00414"></a>00414 <span class="comment"></span>
<a name="l00415"></a>00415 <span class="comment">   /// Velocity limit for move.</span>
<a name="l00416"></a>00416 <span class="comment">   ///</span>
<a name="l00417"></a>00417 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00418"></a>00418 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00419"></a><a class="code" href="structProfileConfigScurve.html#o1">00419</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigScurve.html#o1">vel</a>;
<a name="l00420"></a>00420 <span class="comment"></span>
<a name="l00421"></a>00421 <span class="comment">   /// Acceleration limit for move.</span>
<a name="l00422"></a>00422 <span class="comment">   ///</span>
<a name="l00423"></a>00423 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00424"></a>00424 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00425"></a><a class="code" href="structProfileConfigScurve.html#o2">00425</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigScurve.html#o2">acc</a>;
<a name="l00426"></a>00426 <span class="comment"></span>
<a name="l00427"></a>00427 <span class="comment">   /// Jerk limit for move.</span>
<a name="l00428"></a>00428 <span class="comment">   ///</span>
<a name="l00429"></a>00429 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00430"></a>00430 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00431"></a><a class="code" href="structProfileConfigScurve.html#o3">00431</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigScurve.html#o3">jrk</a>;
<a name="l00432"></a>00432 <span class="comment"></span>
<a name="l00433"></a>00433 <span class="comment">   /// Default constructor.  Simply set all parameters to zero.</span>
<a name="l00434"></a><a class="code" href="structProfileConfigScurve.html#a0">00434</a> <span class="comment"></span>   <a class="code" href="structProfileConfigScurve.html#a0">ProfileConfigScurve</a>( <span class="keywordtype">void</span> )
<a name="l00435"></a>00435    {
<a name="l00436"></a>00436       <a class="code" href="structProfileConfigScurve.html#o0">pos</a> = <a class="code" href="structProfileConfigScurve.html#o1">vel</a> = <a class="code" href="structProfileConfigScurve.html#o2">acc</a> = <a class="code" href="structProfileConfigScurve.html#o3">jrk</a> = 0;
<a name="l00437"></a>00437    }
<a name="l00438"></a>00438 };
<a name="l00439"></a>00439 
<a name="l00440"></a>00440 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00441"></a>00441 <span class="comment">/**</span>
<a name="l00442"></a>00442 <span class="comment">Velocity profile parameters.  This structure holds all the parameters </span>
<a name="l00443"></a>00443 <span class="comment">necessary to perform a velocity profile move.</span>
<a name="l00444"></a>00444 <span class="comment">*/</span>
<a name="l00445"></a>00445 <span class="comment">/***************************************************************************/</span>
<a name="l00446"></a><a class="code" href="structProfileConfigVel.html">00446</a> <span class="keyword">struct </span><a class="code" href="structProfileConfigVel.html">ProfileConfigVel</a>
<a name="l00447"></a>00447 {<span class="comment"></span>
<a name="l00448"></a>00448 <span class="comment">   /// Direction of motion.  If &gt;= 0, then move in the positive direction</span>
<a name="l00449"></a>00449 <span class="comment">   /// If &lt; 0, then move in the negative direction.</span>
<a name="l00450"></a><a class="code" href="structProfileConfigVel.html#o0">00450</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigVel.html#o0">dir</a>;
<a name="l00451"></a>00451 <span class="comment"></span>
<a name="l00452"></a>00452 <span class="comment">   /// Velocity limit for move.</span>
<a name="l00453"></a>00453 <span class="comment">   ///</span>
<a name="l00454"></a>00454 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00455"></a>00455 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00456"></a><a class="code" href="structProfileConfigVel.html#o1">00456</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigVel.html#o1">vel</a>;
<a name="l00457"></a>00457 <span class="comment"></span>
<a name="l00458"></a>00458 <span class="comment">   /// Acceleration limit for move.</span>
<a name="l00459"></a>00459 <span class="comment">   ///</span>
<a name="l00460"></a>00460 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00461"></a>00461 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00462"></a><a class="code" href="structProfileConfigVel.html#o2">00462</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigVel.html#o2">acc</a>;
<a name="l00463"></a>00463 <span class="comment"></span>
<a name="l00464"></a>00464 <span class="comment">   /// Deceleration limit for move.</span>
<a name="l00465"></a>00465 <span class="comment">   ///</span>
<a name="l00466"></a>00466 <span class="comment">   /// This parameter is specified in "user units".  See </span>
<a name="l00467"></a>00467 <span class="comment">   /// Amp::SetCountsPerUnit for details.</span>
<a name="l00468"></a><a class="code" href="structProfileConfigVel.html#o3">00468</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="structProfileConfigVel.html#o3">dec</a>;
<a name="l00469"></a>00469 <span class="comment"></span>
<a name="l00470"></a>00470 <span class="comment">   /// Default constructor.  Simply set all parameters to zero.</span>
<a name="l00471"></a><a class="code" href="structProfileConfigVel.html#a0">00471</a> <span class="comment"></span>   <a class="code" href="structProfileConfigVel.html#a0">ProfileConfigVel</a>( <span class="keywordtype">void</span> )
<a name="l00472"></a>00472    {
<a name="l00473"></a>00473       <a class="code" href="structProfileConfigVel.html#o0">dir</a> =