variable.h

三軸伺服馬達控制程式利用軟體DDA方式讀回目前位置然後以取樣時間計算出下一點位置取誤差後利用DA將命令電壓送出做三軸控制

int DDA_Pulse_Modi1,DDA_Pulse_Modi2,DDA_Pulse_Modi3,DAError1,DAError2,DAError3,
    Step1,Step2,Step3;  
char Status1,Status2,Status3,DDAOK,AccStart,JogStart; 
float Point_V1,Point_V2,Point_V3,DDA_Pulse1,DDA_Pulse2,DDA_Pulse3,Speed,
      Distance_Pulse1,Distance_Pulse2,Distance_Pulse3,Speed1,Speed2,Speed3,
      Sys_Pos1,Sys_Pos2,Sys_Pos3;
long AbsEncoderPos1,AbsEncoderPos2,AbsEncoderPos3,Pulse_Cnt1,Pulse_Cnt2,Pulse_Cnt3;  
unsigned char RxdOK,TxdIndex,RxdIndex,TxdBuf[12],RxdBuf[12],EEprom[33],Start;   
unsigned int Sec,AccMSec,MiliSec,JogSec;