ampunits_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00128"></a>00128 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00129"></a>00129 <span class="preprocessor"></span>   cts = u2lPos;
<a name="l00130"></a>00130    <span class="keywordflow">return</span> 0;
<a name="l00131"></a>00131 <span class="preprocessor">#else</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span>   <span class="keywordflow">return</span> &amp;<a class="code" href="classAmpError.html#s27">AmpError::NoUserUnits</a>;
<a name="l00133"></a>00133 <span class="preprocessor">#endif</span>
<a name="l00134"></a>00134 <span class="preprocessor"></span>}
<a name="l00135"></a>00135 
<a name="l00136"></a>00136 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment">/**</span>
<a name="l00138"></a>00138 <span class="comment">Get the number of encoder counts / user distance unit for both encoders</span>
<a name="l00139"></a>00139 <span class="comment">in a dual encoder system.  This function is only available when user units </span>
<a name="l00140"></a>00140 <span class="comment">are selected in CML_Settings.h.</span>
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">These values default to 1.0 (i.e. user distance units are in encoder counts).</span>
<a name="l00143"></a>00143 <span class="comment">It can be adjusted if some other distance unit is desired.</span>
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment">These values control velocity, acceleration, and jerk units also.  These units</span>
<a name="l00146"></a>00146 <span class="comment">are always based on a time interval of seconds.</span>
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment">@param load The load encoder scaling factor will be returned here</span>
<a name="l00149"></a>00149 <span class="comment">@param mtr The motor encoder scaling factor will be returned here</span>
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment">@return A pointer to an error object, or NULL on success</span>
<a name="l00152"></a>00152 <span class="comment">*/</span>
<a name="l00153"></a>00153 <span class="comment">/***************************************************************************/</span>
<a name="l00154"></a><a class="code" href="classAmp.html#z15_3">00154</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z15_1">Amp::GetCountsPerUnit</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &amp;load, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &amp;mtr )
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00157"></a>00157 <span class="preprocessor"></span>   load = u2lPos;
<a name="l00158"></a>00158    mtr  = u2mPos;
<a name="l00159"></a>00159    <span class="keywordflow">return</span> 0;
<a name="l00160"></a>00160 <span class="preprocessor">#else</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span>   <span class="keywordflow">return</span> &amp;<a class="code" href="classAmpError.html#s27">AmpError::NoUserUnits</a>;
<a name="l00162"></a>00162 <span class="preprocessor">#endif</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span>}
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment">/**</span>
<a name="l00167"></a>00167 <span class="comment">Convert a position from user position units to internal amplifier units.</span>
<a name="l00168"></a>00168 <span class="comment"></span>
<a name="l00169"></a>00169 <span class="comment">Internal to the amplifier, all positions are stored in units of encoder counts.</span>
<a name="l00170"></a>00170 <span class="comment">If user units are not enabled in CML_Settings.h, then user units are also in</span>
<a name="l00171"></a>00171 <span class="comment">encoder counts and this function has no effect.</span>
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment">If user units are enabled at compile time, then this function converts from </span>
<a name="l00174"></a>00174 <span class="comment">user units (defined using Amp::SetCountsPerUnit) to these internal amplifier units.</span>
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00177"></a>00177 <span class="comment">the load encoder resolution.  To convert motor encoder positions, use Amp::PosUser2Mtr.</span>
<a name="l00178"></a>00178 <span class="comment">On single encoder systems either of these functions can be used.</span>
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment">@param pos The position in user units</span>
<a name="l00181"></a>00181 <span class="comment">@return The position in encoder counts</span>
<a name="l00182"></a>00182 <span class="comment">*/</span>
<a name="l00183"></a>00183 <span class="comment">/***************************************************************************/</span>
<a name="l00184"></a><a class="code" href="classAmp.html#z15_10">00184</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_10">Amp::PosUser2Load</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> pos )
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span>   pos *= u2lPos;
<a name="l00188"></a>00188    <span class="keywordflow">return</span> (<a class="code" href="CML__Utils_8h.html#a9">int32</a>)<a class="code" href="AmpUnits_8cpp.html#a0">Round</a>(pos);
<a name="l00189"></a>00189 <span class="preprocessor">#else</span>
<a name="l00190"></a>00190 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos;
<a name="l00191"></a>00191 <span class="preprocessor">#endif</span>
<a name="l00192"></a>00192 <span class="preprocessor"></span>}
<a name="l00193"></a>00193 
<a name="l00194"></a>00194 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment">/**</span>
<a name="l00196"></a>00196 <span class="comment">Convert a velocity from user units to internal amplifier units.</span>
<a name="l00197"></a>00197 <span class="comment"></span>
<a name="l00198"></a>00198 <span class="comment">Internal to the amplifier, all velocities are stored in units of </span>
<a name="l00199"></a>00199 <span class="comment">0.1 encoder counts / second.  If user units are not enabled in </span>
<a name="l00200"></a>00200 <span class="comment">CML_Settings.h, then user units are the same as amplifier units,</span>
<a name="l00201"></a>00201 <span class="comment">and this function has no effect.</span>
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment">If user units are enabled, then this function converts from user units</span>
<a name="l00204"></a>00204 <span class="comment">(defined using Amp::SetCountsPerUnit) to these internal amplifier units.</span>
<a name="l00205"></a>00205 <span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00207"></a>00207 <span class="comment">the load encoder resolution.  To convert motor encoder velocities, use Amp::VelUser2Mtr.</span>
<a name="l00208"></a>00208 <span class="comment">On single encoder systems either of these functions can be used.</span>
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment">@param vel The velocity in user units</span>
<a name="l00211"></a>00211 <span class="comment">@return The velocity in 0.1 encoder counts / second</span>
<a name="l00212"></a>00212 <span class="comment">*/</span>
<a name="l00213"></a>00213 <span class="comment">/***************************************************************************/</span>
<a name="l00214"></a><a class="code" href="classAmp.html#z15_11">00214</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_11">Amp::VelUser2Load</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> vel )
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00217"></a>00217 <span class="preprocessor"></span>   vel *= u2lVel;
<a name="l00218"></a>00218    <span class="keywordflow">return</span> (<a class="code" href="CML__Utils_8h.html#a9">int32</a>)<a class="code" href="AmpUnits_8cpp.html#a0">Round</a>(vel);
<a name="l00219"></a>00219 <span class="preprocessor">#else</span>
<a name="l00220"></a>00220 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel;
<a name="l00221"></a>00221 <span class="preprocessor">#endif</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span>}
<a name="l00223"></a>00223 
<a name="l00224"></a>00224 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00225"></a>00225 <span class="comment">/**</span>
<a name="l00226"></a>00226 <span class="comment">Convert an acceleration from user units to internal amplifier units.</span>
<a name="l00227"></a>00227 <span class="comment"></span>
<a name="l00228"></a>00228 <span class="comment">Internal to the amplifier, all accelerations are stored in units of </span>
<a name="l00229"></a>00229 <span class="comment">10 encoder counts / second / second.  If user units are not enabled in </span>
<a name="l00230"></a>00230 <span class="comment">CML_Settings.h, then user units are the same as amplifier units, and </span>
<a name="l00231"></a>00231 <span class="comment">this function has no effect.</span>
<a name="l00232"></a>00232 <span class="comment"></span>
<a name="l00233"></a>00233 <span class="comment">If user units are enabled, then this function converts from user units</span>
<a name="l00234"></a>00234 <span class="comment">(defined using Amp::SetCountsPerUnit) to these internal amplifier units.</span>
<a name="l00235"></a>00235 <span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00237"></a>00237 <span class="comment">the load encoder resolution.  To convert motor encoder accelerations, use </span>
<a name="l00238"></a>00238 <span class="comment">Amp::AccUser2Mtr.  On single encoder systems either of these functions can be used.</span>
<a name="l00239"></a>00239 <span class="comment"></span>
<a name="l00240"></a>00240 <span class="comment">@param acc The acceleration in user units</span>
<a name="l00241"></a>00241 <span class="comment">@return The acceleration in 10 encoder counts / second ^ 2 units</span>
<a name="l00242"></a>00242 <span class="comment">*/</span>
<a name="l00243"></a>00243 <span class="comment">/***************************************************************************/</span>
<a name="l00244"></a><a class="code" href="classAmp.html#z15_12">00244</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_12">Amp::AccUser2Load</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> acc )
<a name="l00245"></a>00245 {
<a name="l00246"></a>00246 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00247"></a>00247 <span class="preprocessor"></span>   acc *= u2lAcc;
<a name="l00248"></a>00248    <span class="keywordflow">return</span> (<a class="code" href="CML__Utils_8h.html#a9">int32</a>)<a class="code" href="AmpUnits_8cpp.html#a0">Round</a>(acc);
<a name="l00249"></a>00249 <span class="preprocessor">#else</span>
<a name="l00250"></a>00250 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc;
<a name="l00251"></a>00251 <span class="preprocessor">#endif</span>
<a name="l00252"></a>00252 <span class="preprocessor"></span>}
<a name="l00253"></a>00253 
<a name="l00254"></a>00254 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment">/**</span>
<a name="l00256"></a>00256 <span class="comment"></span>
<a name="l00257"></a>00257 <span class="comment">Convert a jerk value from user units to internal amplifier units.</span>
<a name="l00258"></a>00258 <span class="comment"></span>
<a name="l00259"></a>00259 <span class="comment">Internal to the amplifier, all jerk values are stored in units of </span>
<a name="l00260"></a>00260 <span class="comment">100 encoder counts / second ^ 3.  If user units are not enabled in </span>
<a name="l00261"></a>00261 <span class="comment">CML_Settings.h, then user units are the same as amplifier units, and </span>
<a name="l00262"></a>00262 <span class="comment">this function has no effect.</span>
<a name="l00263"></a>00263 <span class="comment"></span>