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/***************************************************
* JogMotor1.c
*
* This program will jog motor 1 by an encoder
* count inputted by the user.
**************************************************/
#include <stdio.h>
#include <unistd.h>
#include "Pmacu.h" //Include file for PMAC
/***************************************************
* int JogMotor(DWORD DwDevice)
*
* Returns:
* the status of the
* Arguments:
* DwDevice is the PMAC device number
*
* This function will request the user to input an
* encoder count to move motor 1 to and then
* command the PMAC board to move the motor.
**************************************************/
int JogMotor( DWORD DwDevice )
{
char inputbuf[500];
char outputbuf[256];
int jog_position;
int i;
int DONE = 0;
// Kill all motors before continuing.
printf("Killing all motors\n");
// Print the command to a char buffer array
// to send to PMAC.
sprintf(inputbuf, "K\n");
// Send the command to PMAC and store any response.
PmacGetResponseA(DwDevice,outputbuf,250,inputbuf);
// Check PMAC for errors.
if(PmacGetErrorStr(DwDevice, outputbuf, 250))
{
printf("\nERROR: First killing motor call\n");
printf("%s\n", outputbuf);
return -1;
}
// Ask the user to input an encoder count number
// to jog to.
printf("What position would you like to jog to: ");
fflush(_stdin);
fgets(inputbuf, 49, _stdin);
jog_position = atoi(inputbuf);
// Print out how many encoder counts we are moving
// the motor to.
printf("Jogging to %d\n", jog_position);
// Print the command to a char buffer array
// to send to PMAC.
sprintf(inputbuf, "J:%d\n", jog_position);
// Send the command to PMAC and get any response.
PmacGetResponseA(DwDevice,outputbuf,250,inputbuf);
// Check PMAC for errors.
if(PmacGetErrorStr(DwDevice, outputbuf, 250))
{
printf("\nERROR: First killing motor call\n");
printf("%s\n", outputbuf);
return -1;
}
// Sleep for 10 msec to allow PMAC to update the
// dual port ram before checking it for motor
// movement.
usleep(10);
// Loop until the motor has stopped moving.
while(!DONE)
{
PmacDPRUpdateRealTime(DwDevice);
if( PmacDPRGetMotorMotion(DwDevice, 0) != 2)
DONE=1;
}
// Kill all motors before continuing.
printf("Killing all motors\n");
// Print the command to a char buffer array
// to send to PMAC.
sprintf(inputbuf, "K\n");
// Send the command to PMAC and store any response.
PmacGetResponseA(DwDevice,outputbuf,250,inputbuf);
// Check PMAC for errors.
if(PmacGetErrorStr(DwDevice, outputbuf, 250))
{
printf("\nERROR: First killing motor call\n");
printf("%s\n", outputbuf);
return -1;
}
return 0;
}
int main(void)
{
DWORD DwDevice = 0; //Variable to store the device number
int status; //Variable for return status
//Ask the user to input a PMAC device number and store
//it in the device number variable.
printf( "\n\nInput DwDevice: " );
scanf( "%d",&DwDevice );
//Print out to the user what device number they entered.
printf( "You entered DwDevice: %d\n\n", DwDevice );
//Open the PMAC device.
if ( OpenPmacDevice( DwDevice ) )
printf( "PMAC Open Successfully! status = %d\n", status );
else
{
printf( "PMAC Open Error: DwDevice %d not found.\n", DwDevice );
printf( "Terminating program.\n\n" );
exit( -1 );
}
//Initialize the Dual Port Ram real time data acquisition for
//motor information used to check to see if the motor is in
//motion.
if(!PmacDPRRealTimeEx(DwDevice, 5, 10, 1))
printf("Unable to Initialize Real-Time Buffer");
//Call the JogMotor() function sending it the PMAC device
//number.
JogMotor(DwDevice);
//Diable the Dual Port Ram real time.
if(!PmacDPRRealTimeEx(DwDevice, 0, 0, 0))
printf("Unable to Disable Real-Time Buffer");
//Close the PMAC device.
if ( ClosePmacDevice( DwDevice ) )
printf( "PMAC Close Successfully! status = %d\n", status );
else
{
printf( "PMAC Close Error: DwDevice %d could not be closed.\n", DwDevice );
exit( -1 );
}
return 0;
}
/* End of Program */
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