ampunits_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00400"></a>00400 <span class="comment">Convert a position from user position units to internal amplifier units.</span>
<a name="l00401"></a>00401 <span class="comment"></span>
<a name="l00402"></a>00402 <span class="comment">This function converts using motor encoder units on a dual encoder system.  </span>
<a name="l00403"></a>00403 <span class="comment">Load encoder positions can be converted using Amp::PosUser2Load.</span>
<a name="l00404"></a>00404 <span class="comment"></span>
<a name="l00405"></a>00405 <span class="comment">@param pos The position in user units</span>
<a name="l00406"></a>00406 <span class="comment">@return The position in encoder counts</span>
<a name="l00407"></a>00407 <span class="comment">*/</span>
<a name="l00408"></a>00408 <span class="comment">/***************************************************************************/</span>
<a name="l00409"></a><a class="code" href="classAmp.html#z15_4">00409</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_4">Amp::PosUser2Mtr</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> pos )
<a name="l00410"></a>00410 {
<a name="l00411"></a>00411 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00412"></a>00412 <span class="preprocessor"></span>   pos *= u2mPos;
<a name="l00413"></a>00413    <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="l00414"></a>00414 <span class="preprocessor">#else</span>
<a name="l00415"></a>00415 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos;
<a name="l00416"></a>00416 <span class="preprocessor">#endif</span>
<a name="l00417"></a>00417 <span class="preprocessor"></span>}
<a name="l00418"></a>00418 
<a name="l00419"></a>00419 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00420"></a>00420 <span class="comment">/**</span>
<a name="l00421"></a>00421 <span class="comment">Convert a velocity from user units to internal amplifier units.</span>
<a name="l00422"></a>00422 <span class="comment"></span>
<a name="l00423"></a>00423 <span class="comment">This function converts using motor encoder units on a dual encoder system.</span>
<a name="l00424"></a>00424 <span class="comment">Load encoder velocities can be converted using Amp::VelUser2Load.</span>
<a name="l00425"></a>00425 <span class="comment"></span>
<a name="l00426"></a>00426 <span class="comment">@param vel The velocity in user units</span>
<a name="l00427"></a>00427 <span class="comment">@return The velocity in 0.1 encoder counts / second</span>
<a name="l00428"></a>00428 <span class="comment">*/</span>
<a name="l00429"></a>00429 <span class="comment">/***************************************************************************/</span>
<a name="l00430"></a><a class="code" href="classAmp.html#z15_5">00430</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_5">Amp::VelUser2Mtr</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> vel )
<a name="l00431"></a>00431 {
<a name="l00432"></a>00432 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00433"></a>00433 <span class="preprocessor"></span>   vel *= u2mVel;
<a name="l00434"></a>00434    <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="l00435"></a>00435 <span class="preprocessor">#else</span>
<a name="l00436"></a>00436 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel;
<a name="l00437"></a>00437 <span class="preprocessor">#endif</span>
<a name="l00438"></a>00438 <span class="preprocessor"></span>}
<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">Convert an acceleration from user units to internal amplifier units.</span>
<a name="l00443"></a>00443 <span class="comment"></span>
<a name="l00444"></a>00444 <span class="comment">This function converts using motor encoder units on a dual encoder system.</span>
<a name="l00445"></a>00445 <span class="comment">Load encoder accelerations can be converted using Amp::AccUser2Load.</span>
<a name="l00446"></a>00446 <span class="comment"></span>
<a name="l00447"></a>00447 <span class="comment">@param acc The acceleration in user units</span>
<a name="l00448"></a>00448 <span class="comment">@return The acceleration in 10 encoder counts / second ^ 2 units</span>
<a name="l00449"></a>00449 <span class="comment">*/</span>
<a name="l00450"></a>00450 <span class="comment">/***************************************************************************/</span>
<a name="l00451"></a><a class="code" href="classAmp.html#z15_6">00451</a> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classAmp.html#z15_6">Amp::AccUser2Mtr</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> acc )
<a name="l00452"></a>00452 {
<a name="l00453"></a>00453 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00454"></a>00454 <span class="preprocessor"></span>   acc *= u2mAcc;
<a name="l00455"></a>00455    <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="l00456"></a>00456 <span class="preprocessor">#else</span>
<a name="l00457"></a>00457 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc;
<a name="l00458"></a>00458 <span class="preprocessor">#endif</span>
<a name="l00459"></a>00459 <span class="preprocessor"></span>}
<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">Convert a position from internal amplifier units to user units</span>
<a name="l00464"></a>00464 <span class="comment"></span>
<a name="l00465"></a>00465 <span class="comment">This function converts using motor encoder units on a dual encoder system.</span>
<a name="l00466"></a>00466 <span class="comment">Load encoder positions can be converted using Amp::PosLoad2User.</span>
<a name="l00467"></a>00467 <span class="comment"></span>
<a name="l00468"></a>00468 <span class="comment">@param pos The position in encoder counts</span>
<a name="l00469"></a>00469 <span class="comment">@return The position in user units</span>
<a name="l00470"></a>00470 <span class="comment">*/</span>
<a name="l00471"></a>00471 <span class="comment">/***************************************************************************/</span>
<a name="l00472"></a><a class="code" href="classAmp.html#z15_7">00472</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_7">Amp::PosMtr2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> pos )
<a name="l00473"></a>00473 {
<a name="l00474"></a>00474 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00475"></a>00475 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos * m2uPos;
<a name="l00476"></a>00476 <span class="preprocessor">#else</span>
<a name="l00477"></a>00477 <span class="preprocessor"></span>   <span class="keywordflow">return</span> pos;
<a name="l00478"></a>00478 <span class="preprocessor">#endif</span>
<a name="l00479"></a>00479 <span class="preprocessor"></span>}
<a name="l00480"></a>00480 
<a name="l00481"></a>00481 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00482"></a>00482 <span class="comment">/**</span>
<a name="l00483"></a>00483 <span class="comment">Convert a velocity from internal amplifier units to user units</span>
<a name="l00484"></a>00484 <span class="comment"></span>
<a name="l00485"></a>00485 <span class="comment">This function converts using motor encoder units on a dual encoder system.</span>
<a name="l00486"></a>00486 <span class="comment">Load encoder velcities can be converted using Amp::VelLoad2User.</span>
<a name="l00487"></a>00487 <span class="comment"></span>
<a name="l00488"></a>00488 <span class="comment">@param vel The velocity in 0.1 encoder counts / second</span>
<a name="l00489"></a>00489 <span class="comment">@return The velocity in user units</span>
<a name="l00490"></a>00490 <span class="comment">*/</span>
<a name="l00491"></a>00491 <span class="comment">/***************************************************************************/</span>
<a name="l00492"></a><a class="code" href="classAmp.html#z15_8">00492</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_8">Amp::VelMtr2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> vel )
<a name="l00493"></a>00493 {
<a name="l00494"></a>00494 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00495"></a>00495 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel * m2uVel;
<a name="l00496"></a>00496 <span class="preprocessor">#else</span>
<a name="l00497"></a>00497 <span class="preprocessor"></span>   <span class="keywordflow">return</span> vel;
<a name="l00498"></a>00498 <span class="preprocessor">#endif</span>
<a name="l00499"></a>00499 <span class="preprocessor"></span>}
<a name="l00500"></a>00500 
<a name="l00501"></a>00501 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00502"></a>00502 <span class="comment">/**</span>
<a name="l00503"></a>00503 <span class="comment">Convert an acceleration from internal amplifier units to user units</span>
<a name="l00504"></a>00504 <span class="comment"></span>
<a name="l00505"></a>00505 <span class="comment">This function converts using motor encoder units on a dual encoder system.</span>
<a name="l00506"></a>00506 <span class="comment">Load encoder accelerations can be converted using Amp::AccLoad2User.</span>
<a name="l00507"></a>00507 <span class="comment"></span>
<a name="l00508"></a>00508 <span class="comment">@param acc The acceleration in units of 10 encoder counts / second^2 </span>
<a name="l00509"></a>00509 <span class="comment">@return The acceleration in user units</span>
<a name="l00510"></a>00510 <span class="comment">*/</span>
<a name="l00511"></a>00511 <span class="comment">/***************************************************************************/</span>
<a name="l00512"></a><a class="code" href="classAmp.html#z15_9">00512</a> <a class="code" href="CML__Utils_8h.html#a11">uunit</a> <a class="code" href="classAmp.html#z15_9">Amp::AccMtr2User</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> acc )
<a name="l00513"></a>00513 {
<a name="l00514"></a>00514 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00515"></a>00515 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc * m2uAcc;
<a name="l00516"></a>00516 <span class="preprocessor">#else</span>
<a name="l00517"></a>00517 <span class="preprocessor"></span>   <span class="keywordflow">return</span> acc;
<a name="l00518"></a>00518 <span class="preprocessor">#endif</span>
<a name="l00519"></a>00519 <span class="preprocessor"></span>}
<a name="l00520"></a>00520 
<a name="l00521"></a>00521 
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