amp_8cpp-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00106"></a>00106    myLink = 0;
<a name="l00107"></a>00107    <a class="code" href="classAmp.html#z0_4">Init</a>( co, nodeID );
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 
<a name="l00110"></a>00110 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment">/**</span>
<a name="l00112"></a>00112 <span class="comment">  Amp object destructor.</span>
<a name="l00113"></a>00113 <span class="comment">  */</span>
<a name="l00114"></a>00114 <span class="comment">/***************************************************************************/</span>
<a name="l00115"></a><a class="code" href="classAmp.html#z0_3">00115</a> <a class="code" href="classAmp.html#z0_3">Amp::~Amp</a>()
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117    <span class="keywordflow">if</span>( myLink )
<a name="l00118"></a>00118    {
<a name="l00119"></a>00119       <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a10">Error</a>( <span class="stringliteral">"Amp: %d destroyed while owned by a linkage!\n"</span>, <a class="code" href="classNode.html#a38">GetNodeID</a>() );
<a name="l00120"></a>00120       myLink-&gt;<a class="code" href="classLinkage.html#d9">InvalidateAmp</a>( <span class="keyword">this</span> );
<a name="l00121"></a>00121    }
<a name="l00122"></a>00122    <span class="keywordflow">else</span>
<a name="l00123"></a>00123       <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp: %d destroyed\n"</span>, <a class="code" href="classNode.html#a38">GetNodeID</a>() );
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125 
<a name="l00126"></a>00126 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment">/**</span>
<a name="l00128"></a>00128 <span class="comment">  Initialize the amplifier object using all default settings.</span>
<a name="l00129"></a>00129 <span class="comment">  @param co Reference to the CANopen network for this amp.</span>
<a name="l00130"></a>00130 <span class="comment">  @param nodeID a valid node ID for the amp</span>
<a name="l00131"></a>00131 <span class="comment">  @return A pointer to an error object, or NULL on success.</span>
<a name="l00132"></a>00132 <span class="comment">  */</span>
<a name="l00133"></a>00133 <span class="comment">/***************************************************************************/</span>
<a name="l00134"></a><a class="code" href="classAmp.html#z0_4">00134</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z0_4">Amp::Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136    <a class="code" href="classAmpSettings.html">AmpSettings</a> settings;
<a name="l00137"></a>00137    <span class="keywordflow">return</span> <a class="code" href="classAmp.html#z0_4">Init</a>( co, nodeID, settings );
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139 
<a name="l00140"></a>00140 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment">/**</span>
<a name="l00142"></a>00142 <span class="comment">  Initialize the amplifier object with custom amp settings.</span>
<a name="l00143"></a>00143 <span class="comment">  @param co Reference to the CANopen network for this amp.</span>
<a name="l00144"></a>00144 <span class="comment">  @param nodeID a valid node ID for the amp</span>
<a name="l00145"></a>00145 <span class="comment">  @param settings Amplifier settings to be used.</span>
<a name="l00146"></a>00146 <span class="comment">  @return A pointer to an error object, or NULL on success.</span>
<a name="l00147"></a>00147 <span class="comment">  */</span>
<a name="l00148"></a>00148 <span class="comment">/***************************************************************************/</span>
<a name="l00149"></a><a class="code" href="classAmp.html#z0_5">00149</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classAmp.html#z0_4">Amp::Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="classAmpSettings.html">AmpSettings</a> &amp;settings )
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151    <span class="keywordtype">int</span> i=0;
<a name="l00152"></a>00152 
<a name="l00153"></a>00153    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d Init\n"</span>, nodeID );
<a name="l00154"></a>00154 
<a name="l00155"></a>00155    <span class="comment">// Initialize the base class</span>
<a name="l00156"></a>00156    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#a6">Node::Init</a>( co, nodeID );
<a name="l00157"></a>00157    <span class="keywordflow">if</span>( err ) <span class="keywordflow">goto</span> retErr;
<a name="l00158"></a>00158 
<a name="l00159"></a>00159    <span class="keywordflow">if</span>( settings.<a class="code" href="classAmpSettings.html#o11">resetOnInit</a> )
<a name="l00160"></a>00160       <a class="code" href="classNode.html#a18">ResetNode</a>();
<a name="l00161"></a>00161 
<a name="l00162"></a>00162    <span class="comment">// Make sure this is the right type of node.</span>
<a name="l00163"></a>00163    <a class="code" href="structNodeIdentity.html">NodeIdentity</a> id;
<a name="l00164"></a>00164    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d, checking ID\n"</span>, nodeID );
<a name="l00165"></a>00165    err = <a class="code" href="classNode.html#a29">GetIdentity</a>( <span class="keywordtype">id</span> );
<a name="l00166"></a>00166    <span class="keywordflow">if</span>( err ) <span class="keywordflow">goto</span> retErr;
<a name="l00167"></a>00167 
<a name="l00168"></a>00168    <span class="keywordflow">if</span>( <span class="keywordtype">id</span>.vendorID != 0x000000AB )
<a name="l00169"></a>00169    {
<a name="l00170"></a>00170       err = &amp;<a class="code" href="classAmpError.html#s13">AmpError::badDeviceID</a>;
<a name="l00171"></a>00171       <span class="keywordflow">goto</span> retErr;
<a name="l00172"></a>00172    }
<a name="l00173"></a>00173 
<a name="l00174"></a>00174    <span class="comment">// Init some local variables</span>
<a name="l00175"></a>00175    initialSettings = settings;
<a name="l00176"></a>00176    pvtTrj = 0;
<a name="l00177"></a>00177    <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#o0">blkUpldOK</a> = <span class="keyword">true</span>;
<a name="l00178"></a>00178 
<a name="l00179"></a>00179    <span class="comment">// If using programmable units, default to units</span>
<a name="l00180"></a>00180    <span class="comment">// of encoder counts.</span>
<a name="l00181"></a>00181 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span>   err = <a class="code" href="classAmp.html#z15_0">SetCountsPerUnit</a>( 1.0 );
<a name="l00183"></a>00183    <span class="keywordflow">if</span>( err ) <span class="keywordflow">goto</span> retErr;
<a name="l00184"></a>00184 <span class="preprocessor">#endif</span>
<a name="l00185"></a>00185 <span class="preprocessor"></span>
<a name="l00186"></a>00186    <span class="comment">// Read and save the amplifiers software version number </span>
<a name="l00187"></a>00187    err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_AMP_INFO, 24, SwVersionNum );
<a name="l00188"></a>00188 
<a name="l00189"></a>00189    <span class="comment">// Disable all the default PDOs </span>
<a name="l00190"></a>00190    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d, Initting PDOs\n"</span>, nodeID );
<a name="l00191"></a>00191    <span class="keywordflow">for</span>( i=0; i&lt;8; i++ )
<a name="l00192"></a>00192    {
<a name="l00193"></a>00193       <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a14">TpdoDisable</a>( i );
<a name="l00194"></a>00194       <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#a12">RpdoDisable</a>( i );
<a name="l00195"></a>00195    }
<a name="l00196"></a>00196 
<a name="l00197"></a>00197    <span class="comment">// I always start out with the following stopping modes:</span>
<a name="l00198"></a>00198    <span class="comment">// quick stop - use the quick stop ramp</span>
<a name="l00199"></a>00199    <span class="comment">// halt - use the profile deceleration</span>
<a name="l00200"></a>00200    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d, setting default stop modes\n"</span>, nodeID );
<a name="l00201"></a>00201    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classAmp.html#z9_6">SetQuickStop</a>( <a class="code" href="CML__AmpDef_8h.html#a402a282">QSTOP_QUICKSTOP</a> );
<a name="l00202"></a>00202    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classAmp.html#z9_4">SetHaltMode</a>( <a class="code" href="CML__AmpDef_8h.html#a401a277">HALT_DECEL</a> );
<a name="l00203"></a>00203 
<a name="l00204"></a>00204    <span class="comment">// Read the initial mode information from the amplifier</span>
<a name="l00205"></a>00205    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> desiredState;
<a name="l00206"></a>00206    <a class="code" href="CML__Utils_8h.html#a6">uint8</a> canOpMode;
<a name="l00207"></a>00207    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_AMP_MODE, 0, desiredState );
<a name="l00208"></a>00208    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a13">Upld8</a>( OBJID_OP_MODE, 0, canOpMode );
<a name="l00209"></a>00209    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a11">Upld16</a>( OBJID_CONTROL, 0, lastCtrlWord );
<a name="l00210"></a>00210    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classAmp.html#z8_5">GetHomeMethod</a>( lastHomeMethod );
<a name="l00211"></a>00211    <span class="keywordflow">if</span>( err ) <span class="keywordflow">goto</span> retErr;
<a name="l00212"></a>00212 
<a name="l00213"></a>00213    lastMode = (<a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>)( (desiredState&lt;&lt;8) | canOpMode );
<a name="l00214"></a>00214    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Amp %d, Initial mode is 0x%04x\n"</span>, nodeID, lastMode );
<a name="l00215"></a>00215 
<a name="l00216"></a>00216    <span class="keywordflow">if</span>( !desiredState || !isCanMode( lastMode ) )
<a name="l00217"></a>00217       lastMode = (<a class="code" href="CML__AmpDef_8h.html#a397">AMP_MODE</a>)( lastMode &amp; 0xFF00 );
<a name="l00218"></a>00218 
<a name="l00219"></a>00219    <span class="comment">// The default control method is based on the </span>