ampunits_8cpp-source.html

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<a name="l00264"></a>00264 <span class="comment">If user units are enabled, then this function converts from user units</span>
<a name="l00265"></a>00265 <span class="comment">(defined using Amp::SetCountsPerUnit) to these internal amplifier units.</span>
<a name="l00266"></a>00266 <span class="comment"></span>
<a name="l00267"></a>00267 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00268"></a>00268 <span class="comment">the load encoder resolution.</span>
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment">@param jrk The jerk in user units</span>
<a name="l00271"></a>00271 <span class="comment">@return The jerk in 100 encoder counts / second ^ 3 units</span>
<a name="l00272"></a>00272 <span class="comment">*/</span>
<a name="l00273"></a>00273 <span class="comment">/***************************************************************************/</span>
<a name="l00274"></a><a class="code" href="classAmp.html#z15_13">00274</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_13">Amp::JrkUser2Load</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> jrk )
<a name="l00275"></a>00275 {
<a name="l00276"></a>00276 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00277"></a>00277 <span class="preprocessor"></span>   jrk *= u2lJrk;
<a name="l00278"></a>00278    <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>(jrk);
<a name="l00279"></a>00279 <span class="preprocessor">#else</span>
<a name="l00280"></a>00280 <span class="preprocessor"></span>   <span class="keywordflow">return</span> jrk;
<a name="l00281"></a>00281 <span class="preprocessor">#endif</span>
<a name="l00282"></a>00282 <span class="preprocessor"></span>}
<a name="l00283"></a>00283 
<a name="l00284"></a>00284 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00285"></a>00285 <span class="comment">/**</span>
<a name="l00286"></a>00286 <span class="comment">Convert a position from internal amplifier units to user units</span>
<a name="l00287"></a>00287 <span class="comment"></span>
<a name="l00288"></a>00288 <span class="comment">Internal to the amplifier, all positions are stored in units of encoder counts.</span>
<a name="l00289"></a>00289 <span class="comment">If user units are not enabled in CML_Settings.h, then user units are also in</span>
<a name="l00290"></a>00290 <span class="comment">encoder counts and this function has no effect.</span>
<a name="l00291"></a>00291 <span class="comment"></span>
<a name="l00292"></a>00292 <span class="comment">If user units are enabled, then this function converts from amplifier units</span>
<a name="l00293"></a>00293 <span class="comment">to user units (defined using Amp::SetCountsPerUnit).</span>
<a name="l00294"></a>00294 <span class="comment"></span>
<a name="l00295"></a>00295 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00296"></a>00296 <span class="comment">the load encoder resolution.  To convert motor encoder positions, use Amp::PosMtr2User.</span>
<a name="l00297"></a>00297 <span class="comment">On single encoder systems either of these functions can be used.</span>
<a name="l00298"></a>00298 <span class="comment"></span>
<a name="l00299"></a>00299 <span class="comment">@param pos The position in encoder counts</span>
<a name="l00300"></a>00300 <span class="comment">@return The position in user units</span>
<a name="l00301"></a>00301 <span class="comment">*/</span>
<a name="l00302"></a>00302 <span class="comment">/***************************************************************************/</span>
<a name="l00303"></a><a class="code" href="classAmp.html#z15_14">00303</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_14">Amp::PosLoad2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> pos )
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00306"></a>00306 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos * l2uPos;
<a name="l00307"></a>00307 <span class="preprocessor">#else</span>
<a name="l00308"></a>00308 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos;
<a name="l00309"></a>00309 <span class="preprocessor">#endif</span>
<a name="l00310"></a>00310 <span class="preprocessor"></span>}
<a name="l00311"></a>00311 
<a name="l00312"></a>00312 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00313"></a>00313 <span class="comment">/**</span>
<a name="l00314"></a>00314 <span class="comment">Convert a velocity from internal amplifier units to user units</span>
<a name="l00315"></a>00315 <span class="comment"></span>
<a name="l00316"></a>00316 <span class="comment">Internal to the amplifier, all velocities are stored in units of </span>
<a name="l00317"></a>00317 <span class="comment">0.1 encoder counts / second.  If user units are not enabled in </span>
<a name="l00318"></a>00318 <span class="comment">CML_Settings.h, then user units are the same as amplifier units,</span>
<a name="l00319"></a>00319 <span class="comment">and this function has no effect.</span>
<a name="l00320"></a>00320 <span class="comment"></span>
<a name="l00321"></a>00321 <span class="comment">If user units are enabled, then this function converts from amplifier units</span>
<a name="l00322"></a>00322 <span class="comment">to user units (defined using Amp::SetCountsPerUnit).</span>
<a name="l00323"></a>00323 <span class="comment"></span>
<a name="l00324"></a>00324 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00325"></a>00325 <span class="comment">the load encoder resolution.  To convert motor encoder velocities, use Amp::VelMtr2User.</span>
<a name="l00326"></a>00326 <span class="comment">On single encoder systems either of these functions can be used.</span>
<a name="l00327"></a>00327 <span class="comment"></span>
<a name="l00328"></a>00328 <span class="comment">@param vel The velocity in 0.1 encoder counts / second</span>
<a name="l00329"></a>00329 <span class="comment">@return The velocity in user units</span>
<a name="l00330"></a>00330 <span class="comment">*/</span>
<a name="l00331"></a>00331 <span class="comment">/***************************************************************************/</span>
<a name="l00332"></a><a class="code" href="classAmp.html#z15_15">00332</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_15">Amp::VelLoad2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> vel )
<a name="l00333"></a>00333 {
<a name="l00334"></a>00334 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00335"></a>00335 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel * l2uVel;
<a name="l00336"></a>00336 <span class="preprocessor">#else</span>
<a name="l00337"></a>00337 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel;
<a name="l00338"></a>00338 <span class="preprocessor">#endif</span>
<a name="l00339"></a>00339 <span class="preprocessor"></span>}
<a name="l00340"></a>00340 
<a name="l00341"></a>00341 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00342"></a>00342 <span class="comment">/**</span>
<a name="l00343"></a>00343 <span class="comment">Convert an acceleration from internal amplifier units to user units</span>
<a name="l00344"></a>00344 <span class="comment"></span>
<a name="l00345"></a>00345 <span class="comment">Internal to the amplifier, all accelerations are stored in units of </span>
<a name="l00346"></a>00346 <span class="comment">10 encoder counts / second^2.  If user units are not enabled in </span>
<a name="l00347"></a>00347 <span class="comment">CML_Settings.h, then user units are the same as amplifier units,</span>
<a name="l00348"></a>00348 <span class="comment">and this function has no effect.</span>
<a name="l00349"></a>00349 <span class="comment"></span>
<a name="l00350"></a>00350 <span class="comment">If user units are enabled, then this function converts from amplifier units</span>
<a name="l00351"></a>00351 <span class="comment">to user units (defined using Amp::SetCountsPerUnit).</span>
<a name="l00352"></a>00352 <span class="comment"></span>
<a name="l00353"></a>00353 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00354"></a>00354 <span class="comment">the load encoder resolution.  To convert motor encoder accelerations, use Amp::AccMtr2User.</span>
<a name="l00355"></a>00355 <span class="comment">On single encoder systems either of these functions can be used.</span>
<a name="l00356"></a>00356 <span class="comment"></span>
<a name="l00357"></a>00357 <span class="comment">@param acc The acceleration in units of 10 encoder counts / second^2 </span>
<a name="l00358"></a>00358 <span class="comment">@return The acceleration in user units</span>
<a name="l00359"></a>00359 <span class="comment">*/</span>
<a name="l00360"></a>00360 <span class="comment">/***************************************************************************/</span>
<a name="l00361"></a><a class="code" href="classAmp.html#z15_16">00361</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_16">Amp::AccLoad2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> acc )
<a name="l00362"></a>00362 {
<a name="l00363"></a>00363 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00364"></a>00364 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc * l2uAcc;
<a name="l00365"></a>00365 <span class="preprocessor">#else</span>
<a name="l00366"></a>00366 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc;
<a name="l00367"></a>00367 <span class="preprocessor">#endif</span>
<a name="l00368"></a>00368 <span class="preprocessor"></span>}
<a name="l00369"></a>00369 
<a name="l00370"></a>00370 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00371"></a>00371 <span class="comment">/**</span>
<a name="l00372"></a>00372 <span class="comment">Convert a jerk value from internal amplifier units to user units</span>
<a name="l00373"></a>00373 <span class="comment"></span>
<a name="l00374"></a>00374 <span class="comment">Internal to the amplifier, all jerk values are stored in units of </span>
<a name="l00375"></a>00375 <span class="comment">100 encoder counts / second^3.  If user units are not enabled in </span>
<a name="l00376"></a>00376 <span class="comment">CML_Settings.h, then user units are the same as amplifier units,</span>
<a name="l00377"></a>00377 <span class="comment">and this function has no effect.</span>
<a name="l00378"></a>00378 <span class="comment"></span>
<a name="l00379"></a>00379 <span class="comment">If user units are enabled, then this function converts from amplifier units</span>
<a name="l00380"></a>00380 <span class="comment">to user units (defined using Amp::SetCountsPerUnit).</span>
<a name="l00381"></a>00381 <span class="comment"></span>
<a name="l00382"></a>00382 <span class="comment">For dual encoder systems the unit conversion used by this function is based on</span>
<a name="l00383"></a>00383 <span class="comment">the load encoder resolution.  </span>
<a name="l00384"></a>00384 <span class="comment"></span>
<a name="l00385"></a>00385 <span class="comment">@param jrk The jerk value in units of 100 encoder counts / second^3</span>
<a name="l00386"></a>00386 <span class="comment">@return The jerk in user units</span>
<a name="l00387"></a>00387 <span class="comment">*/</span>
<a name="l00388"></a>00388 <span class="comment">/***************************************************************************/</span>
<a name="l00389"></a><a class="code" href="classAmp.html#z15_17">00389</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_17">Amp::JrkLoad2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> jrk )
<a name="l00390"></a>00390 {
<a name="l00391"></a>00391 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00392"></a>00392 <span class="preprocessor"></span>   <span class="keywordflow">return</span> jrk * l2uJrk;
<a name="l00393"></a>00393 <span class="preprocessor">#else</span>
<a name="l00394"></a>00394 <span class="preprocessor"></span>   <span class="keywordflow">return</span> jrk;
<a name="l00395"></a>00395 <span class="preprocessor">#endif</span>
<a name="l00396"></a>00396 <span class="preprocessor"></span>}
<a name="l00397"></a>00397 
<a name="l00398"></a>00398 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00399"></a>00399 <span class="comment">/**</span>