ampstruct_8cpp-source.html

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<a name="l00082"></a>00082    <span class="comment">// parameters into nice units and return</span>
<a name="l00083"></a>00083    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00084"></a>00084 
<a name="l00085"></a>00085 
<a name="l00086"></a>00086    <span class="keywordflow">return</span> 0;
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 
<a name="l00089"></a>00089 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment">/**</span>
<a name="l00091"></a>00091 <span class="comment">  Motor info structure default constructor.  This simply initializes all members</span>
<a name="l00092"></a>00092 <span class="comment">  to legal default values.</span>
<a name="l00093"></a>00093 <span class="comment">  */</span>
<a name="l00094"></a>00094 <span class="comment">/***************************************************************************/</span>
<a name="l00095"></a><a class="code" href="structMtrInfo.html#a0">00095</a> <a class="code" href="structMtrInfo.html#a0">MtrInfo::MtrInfo</a>( <span class="keywordtype">void</span> )
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097    <a class="code" href="structMtrInfo.html#o1">mfgName</a>[0] = 0;
<a name="l00098"></a>00098    <a class="code" href="structMtrInfo.html#o2">model</a>[0] = 0;
<a name="l00099"></a>00099 
<a name="l00100"></a>00100    <a class="code" href="structMtrInfo.html#o18">hasBrake</a>   = <span class="keyword">false</span>;
<a name="l00101"></a>00101    <a class="code" href="structMtrInfo.html#o12">tempSensor</a> = <span class="keyword">false</span>;
<a name="l00102"></a>00102    <a class="code" href="structMtrInfo.html#o13">mtrReverse</a> = <span class="keyword">false</span>;
<a name="l00103"></a>00103    <a class="code" href="structMtrInfo.html#o14">encReverse</a> = <span class="keyword">false</span>;
<a name="l00104"></a>00104 
<a name="l00105"></a>00105    <a class="code" href="structMtrInfo.html#o4">resistance</a> = 100;
<a name="l00106"></a>00106    <a class="code" href="structMtrInfo.html#o5">inductance</a> = 100;
<a name="l00107"></a>00107    <a class="code" href="structMtrInfo.html#o6">trqPeak</a> = 10;
<a name="l00108"></a>00108    <a class="code" href="structMtrInfo.html#o7">trqCont</a> = 10;
<a name="l00109"></a>00109    <a class="code" href="structMtrInfo.html#o8">trqConst</a> = 100;
<a name="l00110"></a>00110    <a class="code" href="structMtrInfo.html#o10">backEMF</a> = 1;
<a name="l00111"></a>00111    <a class="code" href="structMtrInfo.html#o11">inertia</a> = 10;
<a name="l00112"></a>00112 
<a name="l00113"></a>00113    <a class="code" href="structMtrInfo.html#o0">type</a>  = 0;
<a name="l00114"></a>00114    <a class="code" href="structMtrInfo.html#o3">poles</a> = 2;
<a name="l00115"></a>00115    <a class="code" href="structMtrInfo.html#o9">velMax</a> = 1;
<a name="l00116"></a>00116    <a class="code" href="structMtrInfo.html#o15">hallType</a>   = 1;
<a name="l00117"></a>00117    <a class="code" href="structMtrInfo.html#o16">hallWiring</a> = 0;
<a name="l00118"></a>00118    <a class="code" href="structMtrInfo.html#o17">hallOffset</a> = 0;
<a name="l00119"></a>00119    <a class="code" href="structMtrInfo.html#o19">stopTime</a> = 0;
<a name="l00120"></a>00120    <a class="code" href="structMtrInfo.html#o20">brakeDelay</a> = 0;
<a name="l00121"></a>00121    <a class="code" href="structMtrInfo.html#o21">brakeVel</a> = 0;
<a name="l00122"></a>00122    <a class="code" href="structMtrInfo.html#o22">encType</a> = 0;
<a name="l00123"></a>00123    <a class="code" href="structMtrInfo.html#o23">ctsPerRev</a> = 4000;
<a name="l00124"></a>00124    <a class="code" href="structMtrInfo.html#o24">encUnits</a> = 0;
<a name="l00125"></a>00125    <a class="code" href="structMtrInfo.html#o25">encRes</a> = 100;
<a name="l00126"></a>00126    <a class="code" href="structMtrInfo.html#o26">eleDist</a> = 100000;
<a name="l00127"></a>00127    <a class="code" href="structMtrInfo.html#o27">mtrUnits</a> = 0;
<a name="l00128"></a>00128    <a class="code" href="structMtrInfo.html#o28">stepsPerRev</a> = 4000;
<a name="l00129"></a>00129    <a class="code" href="structMtrInfo.html#o29">encShift</a> = 0;
<a name="l00130"></a>00130    <a class="code" href="structMtrInfo.html#o30">ndxDist</a> = 0;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132    <a class="code" href="structMtrInfo.html#o31">loadEncType</a> = 0;
<a name="l00133"></a>00133    <a class="code" href="structMtrInfo.html#o32">loadEncRes</a> = 0;
<a name="l00134"></a>00134    <a class="code" href="structMtrInfo.html#o33">loadEncReverse</a> = <span class="keyword">false</span>;
<a name="l00135"></a>00135 
<a name="l00136"></a>00136    <a class="code" href="structMtrInfo.html#o34">gearRatio</a> = 0x00010001;
<a name="l00137"></a>00137    <a class="code" href="structMtrInfo.html#o35">resolverCycles</a> = 1;
<a name="l00138"></a>00138    <a class="code" href="structMtrInfo.html#o36">hallVelShift</a> = 1;
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 
<a name="l00141"></a>00141 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">/**</span>
<a name="l00143"></a>00143 <span class="comment">  Read the motor information structure from the amplifier.</span>
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment">  @param info A structure that will be filled with the motor info</span>
<a name="l00146"></a>00146 <span class="comment">  @return A pointer to an error object, or NULL on success</span>
<a name="l00147"></a>00147 <span class="comment">  */</span>
<a name="l00148"></a>00148 <span class="comment">/***************************************************************************/</span>
<a name="l00149"></a><a class="code" href="classAmp.html#z5_8">00149</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z5_8">Amp::GetMtrInfo</a>( <a class="code" href="structMtrInfo.html">MtrInfo</a> &amp;info )
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151    <a class="code" href="CML__Utils_8h.html#a9">int32</a> l;
<a name="l00152"></a>00152 
<a name="l00153"></a>00153    <span class="comment">// Upload those parameters that can be mapped directly into the</span>
<a name="l00154"></a>00154    <span class="comment">// MtrInfo structure with no translation.</span>
<a name="l00155"></a>00155    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a15">UpldString</a>( OBJID_MOTOR_MODEL, 0, l=<a class="code" href="CML__AmpStruct_8h.html#a0">COPLEY_MAX_STRING</a>, info.<a class="code" href="structMtrInfo.html#o2">model</a> );
<a name="l00156"></a>00156    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a15">UpldString</a>( OBJID_MOTOR_MFG,   0, l=<a class="code" href="CML__AmpStruct_8h.html#a0">COPLEY_MAX_STRING</a>, info.<a class="code" href="structMtrInfo.html#o1">mfgName</a> );
<a name="l00157"></a>00157    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  1, info.<a class="code" href="structMtrInfo.html#o0">type</a> );
<a name="l00158"></a>00158    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  2, info.<a class="code" href="structMtrInfo.html#o3">poles</a> );
<a name="l00159"></a>00159    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  4, info.<a class="code" href="structMtrInfo.html#o15">hallType</a> );
<a name="l00160"></a>00160    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  5, info.<a class="code" href="structMtrInfo.html#o16">hallWiring</a> );
<a name="l00161"></a>00161    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO,  6, info.<a class="code" href="structMtrInfo.html#o17">hallOffset</a> );
<a name="l00162"></a>00162    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 17, info.<a class="code" href="structMtrInfo.html#o19">stopTime</a>   );
<a name="l00163"></a>00163    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 18, info.<a class="code" href="structMtrInfo.html#o20">brakeDelay</a> );
<a name="l00164"></a>00164    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 20, info.<a class="code" href="structMtrInfo.html#o22">encType</a> );
<a name="l00165"></a>00165    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 21, info.<a class="code" href="structMtrInfo.html#o24">encUnits</a> );
<a name="l00166"></a>00166    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 23, info.<a class="code" href="structMtrInfo.html#o23">ctsPerRev</a> );
<a name="l00167"></a>00167    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 24, info.<a class="code" href="structMtrInfo.html#o25">encRes</a> );
<a name="l00168"></a>00168    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 25, info.<a class="code" href="structMtrInfo.html#o26">eleDist</a> );
<a name="l00169"></a>00169    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_MOTOR_INFO, 26, info.<a class="code" href="structMtrInfo.html#o30">ndxDist</a> );
<a name="l00170"></a>00170    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 27, info.<a class="code" href="structMtrInfo.html#o27">mtrUnits</a> );
<a name="l00171"></a>00171    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_MOTOR_INFO, 28, info.<a class="code" href="structMtrInfo.html#o29">encShift</a> );