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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: AmpParam.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>AmpParam.cpp</h1><a href="AmpParam_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <a name="l00012"></a>00012 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00013"></a>00013 <span class="comment">/** \file</span><a name="l00014"></a>00014 <span class="comment">This file contains the AMP object methods used to upload / download various</span><a name="l00015"></a>00015 <span class="comment">amplifier parameters.</span><a name="l00016"></a>00016 <span class="comment">*/</span><a name="l00017"></a>00017 <span class="comment">/***************************************************************************/</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00020"></a>00020 <a name="l00021"></a>00021 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00022"></a>00022 <a name="l00023"></a><a class="code" href="AmpParam_8cpp.html#a0">00023</a> <span class="preprocessor">#define VERSION( major, minor ) ((major<<8) | minor)</span><a name="l00024"></a>00024 <span class="preprocessor"></span><a name="l00025"></a>00025 <span class="comment">/***************************************************************************/</span><a name="l00026"></a>00026 <span class="comment">/***************************************************************************/</span><a name="l00027"></a>00027 <span class="comment">/***************************************************************************/</span><a name="l00028"></a>00028 <span class="comment">/***************************************************************************/</span><a name="l00029"></a>00029 <span class="comment">/*</span><a name="l00030"></a>00030 <span class="comment"> Amplifier state info</span><a name="l00031"></a>00031 <span class="comment">*/</span><a name="l00032"></a>00032 <span class="comment">/***************************************************************************/</span><a name="l00033"></a>00033 <span class="comment">/***************************************************************************/</span><a name="l00034"></a>00034 <span class="comment">/***************************************************************************/</span><a name="l00035"></a>00035 <span class="comment">/***************************************************************************/</span><a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00038"></a>00038 <span class="comment">/**</span><a name="l00039"></a>00039 <span class="comment"> Get the actual position used by the servo loop. For dual encoder systems,</span><a name="l00040"></a>00040 <span class="comment"> this will be the load encoder position. To get the motor encoder position</span><a name="l00041"></a>00041 <span class="comment"> on such a system, use Amp::GetPositionMotor.</span><a name="l00042"></a>00042 <span class="comment"></span><a name="l00043"></a>00043 <span class="comment"> This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.</span><a name="l00044"></a>00044 <span class="comment"></span><a name="l00045"></a>00045 <span class="comment"> @param value variable that will store the returned value</span><a name="l00046"></a>00046 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00047"></a>00047 <span class="comment"> */</span><a name="l00048"></a>00048 <span class="comment">/***************************************************************************/</span><a name="l00049"></a><a class="code" href="classAmp.html#z2_0">00049</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_0">Amp::GetPositionActual</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &value )<a name="l00050"></a>00050 {<a name="l00051"></a>00051 <a class="code" href="CML__Utils_8h.html#a9">int32</a> v;<a name="l00052"></a>00052 <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#a9">Upld32</a>( OBJID_POS_LOAD, 0, v );<a name="l00053"></a>00053 value = <a class="code" href="classAmp.html#z15_14">PosLoad2User</a>( v );<a name="l00054"></a>00054 <span class="keywordflow">return</span> err;<a name="l00055"></a>00055 }<a name="l00056"></a>00056 <a name="l00057"></a>00057 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00058"></a>00058 <span class="comment">/**</span><a name="l00059"></a>00059 <span class="comment"> Get the actual motor position. For single encoder systems, this value is</span><a name="l00060"></a>00060 <span class="comment"> identical to the value returned by Amp::GetPositionActual.</span><a name="l00061"></a>00061 <span class="comment"></span><a name="l00062"></a>00062 <span class="comment"> For dual encoder systems, this function returns the actual motor position</span><a name="l00063"></a>00063 <span class="comment"> and Amp::GetPositionActual may be used to get the load encoder position.</span><a name="l00064"></a>00064 <span class="comment"></span><a name="l00065"></a>00065 <span class="comment"> @param value variable that will store the returned value</span><a name="l00066"></a>00066 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00067"></a>00067 <span class="comment"> */</span><a name="l00068"></a>00068 <span class="comment">/***************************************************************************/</span><a name="l00069"></a><a class="code" href="classAmp.html#z2_2">00069</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_2">Amp::GetPositionMotor</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &value )<a name="l00070"></a>00070 {<a name="l00071"></a>00071 <a class="code" href="CML__Utils_8h.html#a9">int32</a> v;<a name="l00072"></a>00072 <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#a9">Upld32</a>( OBJID_POS_MTR, 0, v );<a name="l00073"></a>00073 value = <a class="code" href="classAmp.html#z15_7">PosMtr2User</a>( v );<a name="l00074"></a>00074 <span class="keywordflow">return</span> err;<a name="l00075"></a>00075 }<a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00078"></a>00078 <span class="comment">/**</span><a name="l00079"></a>00079 <span class="comment"> Set the actual position. On dual encoder systems, this will set the load</span><a name="l00080"></a>00080 <span class="comment"> encoder position. Amp::SetPositionMotor may be used to set the motor </span><a name="l00081"></a>00081 <span class="comment"> position on such systems.</span><a name="l00082"></a>00082 <span class="comment"></span><a name="l00083"></a>00083 <span class="comment"> This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.</span><a name="l00084"></a>00084 <span class="comment"></span><a name="l00085"></a>00085 <span class="comment"> @param value The actual position of the motor.</span><a name="l00086"></a>00086 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00087"></a>00087 <span class="comment"> */</span><a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span><a name="l00089"></a><a class="code" href="classAmp.html#z2_1">00089</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_1">Amp::SetPositionActual</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> value )<a name="l00090"></a>00090 {<a name="l00091"></a>00091 <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( OBJID_POS_LOAD, 0, <a class="code" href="classAmp.html#z15_10">PosUser2Load</a>(value) );<a name="l00092"></a>00092 }<a name="l00093"></a>00093 <a name="l00094"></a>00094 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00095"></a>00095 <span class="comment">/**</span><a name="l00096"></a>00096 <span class="comment"> Set the actual motor position. On dual encoder systems, this will set the </span><a name="l00097"></a>00097 <span class="comment"> motor encoder position. Amp::SetPositionActual may be used to set the load</span><a name="l00098"></a>00098 <span class="comment"> position on such systems.</span><a name="l00099"></a>00099 <span class="comment"></span><a name="l00100"></a>00100 <span class="comment"> @param value The actual position of the motor.</span><a name="l00101"></a>00101 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00102"></a>00102 <span class="comment"> */</span><a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span><a name="l00104"></a><a class="code" href="classAmp.html#z2_3">00104</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z2_3">Amp::SetPositionMotor</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> value )<a name="l00105"></a>00105 {<a name="l00106"></a>00106 <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( OBJID_POS_MTR, 0, <a class="code" href="classAmp.html#z15_4">PosUser2Mtr</a>(value) );<a name="l00107"></a>00107 }<a name="l00108"></a>00108 <a name="l00109"></a>00109 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00110"></a>00110 <span class="comment">/**</span><a name="l00111"></a>00111 <span class="comment"> Get the instantaneous commanded position. </span><a name="l00112"></a>00112 <span class="comment"></span>⌨️ 快捷键说明
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