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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: Amp.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>Amp.cpp</h1><a href="Amp_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 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment"> This file provides most of the implementation for the Copley Amplifier object.</span><a name="l00015"></a>00015 <span class="comment"></span><a name="l00016"></a>00016 <span class="comment"> Since the Amp object is large and complex, it's member functions have been </span><a name="l00017"></a>00017 <span class="comment"> split into several files:</span><a name="l00018"></a>00018 <span class="comment"></span><a name="l00019"></a>00019 <span class="comment"> - This file: Contains the core code.</span><a name="l00020"></a>00020 <span class="comment"></span><a name="l00021"></a>00021 <span class="comment"> - AmpParam.cpp: Holds functions used to upload and download various</span><a name="l00022"></a>00022 <span class="comment"> blocks of amplifier parameters.</span><a name="l00023"></a>00023 <span class="comment"></span><a name="l00024"></a>00024 <span class="comment"> - AmpPDO.cpp: Contains functions used to implement the various PDO objects</span><a name="l00025"></a>00025 <span class="comment"> used in conjunction with the Amp object.</span><a name="l00026"></a>00026 <span class="comment"></span><a name="l00027"></a>00027 <span class="comment">*/</span><a name="l00028"></a>00028 <a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00030"></a>00030 <a name="l00031"></a>00031 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00032"></a>00032 <a name="l00033"></a>00033 <span class="comment">// Amplifier specific error objects</span><a name="l00034"></a>00034 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, <a class="code" href="CML__Node_8h.html#a9">NodeState</a>, <span class="stringliteral">"Drive state invalid for operation"</span> );<a name="l00035"></a>00035 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, pvtSegPos, <span class="stringliteral">"PVT segment position out of range"</span> );<a name="l00036"></a>00036 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, pvtSegVel, <span class="stringliteral">"PVT segment velocity out of range"</span> );<a name="l00037"></a>00037 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, pvtBufferFull, <span class="stringliteral">"PVT trajectory buffer full"</span> );<a name="l00038"></a>00038 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, badDeviceID, <span class="stringliteral">"Device does not seem to be a Copley amplifier"</span> );<a name="l00039"></a>00039 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, badHomeParam, <span class="stringliteral">"Bad parameter passed to home function"</span> );<a name="l00040"></a>00040 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, badMoveParam, <span class="stringliteral">"Bad parameter passed to move function"</span> );<a name="l00041"></a>00041 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, InMotion, <span class="stringliteral">"The amplifier is currently executing a move"</span> );<a name="l00042"></a>00042 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, GuardError, <span class="stringliteral">"The amplifier did not respond to a node guarding or heartbeat message in time"</span> );<a name="l00043"></a>00043 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, Fault, <span class="stringliteral">"The amplifier detected a latching fault"</span> );<a name="l00044"></a>00044 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, ShortCircuit, <span class="stringliteral">"The amplifier detected a short circuit condition"</span> );<a name="l00045"></a>00045 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, AmpTemp, <span class="stringliteral">"The amplifier detected an over temperature error"</span> );<a name="l00046"></a>00046 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, MotorTemp, <span class="stringliteral">"The amplifier detected a motor temperature error"</span> );<a name="l00047"></a>00047 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, OverVolt, <span class="stringliteral">"The amplifier detected an over voltage condition"</span> );<a name="l00048"></a>00048 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, UnderVolt, <span class="stringliteral">"The amplifier detected an under voltage condition"</span> );<a name="l00049"></a>00049 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, EncoderPower, <span class="stringliteral">"The amplifier detected an encoder power error"</span> );<a name="l00050"></a>00050 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, PhaseErr, <span class="stringliteral">"The amplifier detected a phasing error"</span> );<a name="l00051"></a>00051 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, TrackErr, <span class="stringliteral">"The amplifier detected a tracking error."</span> );<a name="l00052"></a>00052 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, PosLim, <span class="stringliteral">"Positive limit switch is active"</span> );<a name="l00053"></a>00053 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, NegLim, <span class="stringliteral">"Negative limit switch is active"</span> );<a name="l00054"></a>00054 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, PosSoftLim, <span class="stringliteral">"Positive software limit is active"</span> );<a name="l00055"></a>00055 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, NegSoftLim, <span class="stringliteral">"Negative software limit is active"</span> );<a name="l00056"></a>00056 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, TrackWarn, <span class="stringliteral">"Position tracking warning"</span> );<a name="l00057"></a>00057 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, Unknown, <span class="stringliteral">"An unknown amplifier error occurred"</span> );<a name="l00058"></a>00058 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, Reset, <span class="stringliteral">"An amplifier reset was detected"</span> );<a name="l00059"></a>00059 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, Disabled, <span class="stringliteral">"The amplifier is currently disabled"</span> );<a name="l00060"></a>00060 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, QuickStopMode, <span class="stringliteral">"The amplifier is currently in quick stop mode"</span> );<a name="l00061"></a>00061 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, NoUserUnits, <span class="stringliteral">"User units are not enabled in CML_Settings.h"</span> );<a name="l00062"></a>00062 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, Abort, <span class="stringliteral">"Trajectory aborted"</span> );<a name="l00063"></a>00063 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, pvtPosUnavail, <span class="stringliteral">"The PVT segment position is not available."</span> );<a name="l00064"></a>00064 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpError.html">AmpError</a>, VelWin, <span class="stringliteral">"Velocity tracking window exceeded."</span> );<a name="l00065"></a>00065 <a name="l00066"></a>00066 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, Memory, <span class="stringliteral">"Fatal hardware error: Amplifier flash data is corrupt."</span> );<a name="l00067"></a>00067 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, ADC, <span class="stringliteral">"Fatal hardware error: An A/D offset error has occurred."</span> );<a name="l00068"></a>00068 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, ShortCircuit, <span class="stringliteral">"The amplifier latched a short circuit condition"</span> );<a name="l00069"></a>00069 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, AmpTemp, <span class="stringliteral">"The amplifier latched an over temperature error"</span> );<a name="l00070"></a>00070 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, MotorTemp, <span class="stringliteral">"The amplifier latched a motor temperature error"</span> );<a name="l00071"></a>00071 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, OverVolt, <span class="stringliteral">"The amplifier latched an over voltage condition"</span> );<a name="l00072"></a>00072 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, UnderVolt, <span class="stringliteral">"The amplifier latched an under voltage condition"</span> );<a name="l00073"></a>00073 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, EncoderPower, <span class="stringliteral">"The amplifier latched an encoder power error"</span> );<a name="l00074"></a>00074 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, PhaseErr, <span class="stringliteral">"The amplifier latched a phasing error"</span> );<a name="l00075"></a>00075 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, TrackErr, <span class="stringliteral">"The amplifier latched a tracking error."</span> );<a name="l00076"></a>00076 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, I2TLimit, <span class="stringliteral">"Current limited by i^2t algorithm."</span> );<a name="l00077"></a>00077 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classAmpFault.html">AmpFault</a>, Unknown, <span class="stringliteral">"Some unknown amplifier latched fault has occurred"</span> );<a name="l00078"></a>00078 <a name="l00079"></a>00079 <span class="comment">// local functions</span><a name="l00080"></a>00080 <span class="keyword">static</span> <span class="keywordtype">bool</span> isCanMode( <a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a> mode );<a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00083"></a>00083 <span class="comment">/**</span><a name="l00084"></a>00084 <span class="comment"> Construct and initialize an amplifier object.</span><a name="l00085"></a>00085 <span class="comment"> @param co Reference to the CANopen network for this amp.</span><a name="l00086"></a>00086 <span class="comment"> @param nodeID a valid node ID for the amp</span><a name="l00087"></a>00087 <span class="comment"> @param settings Amplifier settings to be used.</span><a name="l00088"></a>00088 <span class="comment"> */</span><a name="l00089"></a>00089 <span class="comment">/***************************************************************************/</span><a name="l00090"></a><a class="code" href="classAmp.html#z0_2">00090</a> <a class="code" href="classAmp.html#z0_0">Amp::Amp</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="classAmpSettings.html">AmpSettings</a> &settings )<a name="l00091"></a>00091 {<a name="l00092"></a>00092 myLink = 0;<a name="l00093"></a>00093 <a class="code" href="classAmp.html#z0_4">Init</a>( co, nodeID, settings );<a name="l00094"></a>00094 }<a name="l00095"></a>00095 <a name="l00096"></a>00096 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00097"></a>00097 <span class="comment">/**</span><a name="l00098"></a>00098 <span class="comment"> Construct and initialize an amplifier object using defaults for </span><a name="l00099"></a>00099 <span class="comment"> all amp settings.</span><a name="l00100"></a>00100 <span class="comment"> @param co Reference to the CANopen network for this amp.</span><a name="l00101"></a>00101 <span class="comment"> @param nodeID a valid node ID for the amp</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#z0_1">00104</a> <a class="code" href="classAmp.html#z0_0">Amp::Amp</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )<a name="l00105"></a>00105 {⌨️ 快捷键说明
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