void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
int i;
int boardNum = 0;
int ULStat;
int reward;
LARGE_INTEGER frequency; // ticks per second
char ErrMsg[ERRSTRLEN];
float duration;
// get ticks per second
QueryPerformanceFrequency(&frequency);
if (nrhs > 0)
{
duration = *mxGetPr(prhs[0]);
}
else
{
duration = 10;
}
ULStat = cbDOut(boardNum, AUXPORT,8);
waitMS(duration,frequency);
ULStat = cbDOut(boardNum, AUXPORT,0);
return;
}
DCMotorCommand::~DCMotorCommand(void)
{
for(int i = 0; i < numMotors; i++) {
cbVOut(BoardNumVoltage, 2 * i, voltageGain, 0, Options);
}
cbDOut(BoardNumVoltage, 1, 0);
}
int DCMotorCommand::TurnAmplifiersOff()
{
for (int i = 0; i < numMotors; i++) {
*(motorVoltages + i) = 0;
}
SendVoltageArrayOut(motorVoltages);
cbDOut(BoardNumVoltage, 1, 0);
bIsAmplifiersOn = false;
return 0;
}
DCMotorCommand::DCMotorCommand(void)
{
numMotors = 7;
BoardNumVoltage = 0;
Options = DEFAULTOPTION;
voltageGain = UNI10VOLTS;
minVoltage = 0.0;
maxVoltage = 2.0;
bIsAmplifiersOn = false;
// Initializing VoltageOut modules
for(int i = 0; i < numMotors; i++) {
cbVOut(BoardNumVoltage, 2 * i, voltageGain, 0, Options);
}
// Configuring Digital Outputs
cbDConfigPort(BoardNumVoltage, 1, DIGITALOUT);
cbDOut(BoardNumVoltage, 1, 0);
}
int DCMotorCommand::TurnAmplifiersOn()
{
cbDOut(BoardNumVoltage, 1, 255);
bIsAmplifiersOn = true;
return 0;
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
int i;
int boardNum = 0;
int ULStat;
int lowPort,highPort,strobePort;
LARGE_INTEGER frequency; // ticks per second
double* doubleData;
mxChar * charData;
double waitTimeMS1,waitTimeMS2;
/* These variables set the lag between bit flips (ms) */
/* 20-50 uS is the range needed for the Ripple system */
/* faster than that will likely cause dropped codes */
waitTimeMS1 = 0.050; /* between setting bits and the strobe */
waitTimeMS2 = 0.050; /* between setting the strobe to 1 and back to 0 */
// get ticks per second
QueryPerformanceFrequency(&frequency);
lowPort = FIRSTPORTA;
highPort = FIRSTPORTB;
strobePort = FIRSTPORTC;
ULStat = cbDConfigPort (boardNum, lowPort, DIGITALOUT);
ULStat = cbDConfigPort (boardNum, highPort, DIGITALOUT);
ULStat = cbDConfigPort (boardNum, strobePort, DIGITALOUT);
if (nrhs > 0)
{
switch (mxGetClassID(prhs[0]))
{
case mxDOUBLE_CLASS:
doubleData = mxGetPr(prhs[0]);
for (i = 0; i < mxGetNumberOfElements(prhs[0]); i++)
{
ULStat = cbDOut(boardNum, lowPort, ((int)doubleData[i]) % 256);
ULStat = cbDOut(boardNum, highPort, ((int)doubleData[i]) / 256);
waitMS(waitTimeMS1,frequency);
ULStat = cbDOut(boardNum, strobePort,1);
waitMS(waitTimeMS2,frequency);
ULStat = cbDOut(boardNum, strobePort,0);
}
break;
case mxCHAR_CLASS:
charData = (mxChar*)mxGetData(prhs[0]);
for (i = 0; i < mxGetNumberOfElements(prhs[0]); i++)
{
ULStat = cbDOut(boardNum, lowPort, charData[i]);
waitMS(waitTimeMS1,frequency);
ULStat = cbDOut(boardNum, strobePort, 1);
waitMS(waitTimeMS2,frequency);
ULStat = cbDOut(boardNum, strobePort, 0);
}
break;
default:
mexPrintf("Sorry, this data type cannot be transmitted.\n");
mexEvalString("drawnow;");
}
}
return;
}
