static int NRCstart(uint board)
{
uint safemode = 0;
int errcode;
printf("Neuromorphic Robot Control\n");
redisContext *c = redisConnect("127.0.0.1", 6379);
if (c == NULL || c->err) {
if (c) {
printf("Error: %s\n", c->errstr);
// handle error
} else {
printf("Can't allocate redis context\n");
}
}
X826( S826_SafeWrenWrite(board, 0) );
X826( S826_SafeWrenWrite(board, 1) );
X826( S826_SafeWrenWrite(board, 2) );
X826( S826_DacRangeWrite(board, 0, S826_DAC_SPAN_5_5, safemode) ); // program dac output range: -10V to +10V
X826( S826_DacRangeWrite(board, 1, S826_DAC_SPAN_5_5, safemode) );
X826( S826_DacRangeWrite(board, 2, S826_DAC_SPAN_5_5, safemode) );
while(1) {
redisReply *y = redisCommand(c, "GET yaw");
X826( S826_DacDataWrite(board, 2, strtoul(y->str, 0, 0), safemode) );
redisReply *p = redisCommand(c, "GET pitch");
X826( S826_DacDataWrite(board, 0, strtoul(p->str, 0, 0), safemode) );
redisReply *s = redisCommand(c, "GET slider");
X826( S826_DacDataWrite(board, 1, strtoul(s->str, 0, 0), safemode) );
}
return errcode;
}
// Write all outputs to 0 and then close 626 board =========================
int cMotorController::close()
{
#ifdef SENSORAY826
double Vmax; double Vmin;
// determine range of DAC
if (VOLTRANGE == 2)
{
Vmax = 5;
Vmin = -5;
} else {
Vmax = 10;
Vmin = -10;
}
uint setPoint = (0.0-Vmin)/(Vmax-Vmin) * MAXSETPNT;
S826_DacDataWrite(PCI_BOARD, channelNum, setPoint, 0);
S826_CounterStateWrite(PCI_BOARD, channelNum, 0);
#endif
return 0;
}
void cMotorController::SetOutputTorque(double desiredTorque)
{
double Vmax; //range of DAC
double Vmin; //range of DAC
double VoltOut = 0;
double MaxVolt = MAX_AMPS*AMPS_TO_VOLTS; //0.96 //we need to limit the max voltage output to a corresponding max amperage;
double desiredAmps = desiredTorque/KT;
VoltOut = desiredAmps*AMPS_TO_VOLTS;
// Check to make sure we're not assigning more than we want
if (VoltOut > MaxVolt)
{
VoltOut = MaxVolt;
}
else if (VoltOut < (-MaxVolt))
{
VoltOut = -MaxVolt;
}
// determine range of DAC
if (VOLTRANGE == 2)
{
Vmax = 5;
Vmin = -5;
} else {
Vmax = 10;
Vmin = -10;
}
uint setPoint = (VoltOut-Vmin)/(Vmax-Vmin) * MAXSETPNT;
#ifdef SENSORAY826
S826_DacDataWrite(PCI_BOARD, channelNum, setPoint, 0);
#endif
this->voltageOutput = VoltOut; //Store for GUI
}
