int TestPtToPtMotionShort()
{
// NMCSERVO Servo;
int iModules;
int iError;
long lPosition;
double XPos,YPos,ZPos;
double CmXPos,CmdYPos,CmdZPos;
double dCmdXSpeed,dCmdYSpeed,dCmdZSpeed;
double dCmdXAccel,dCmdYAccel,dCmdZAccel;
double dVelocity;
double dXHome, dYHome, dZHome;
byte byAD;
iModules=g_stage.Initialize("COM4:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(6.0, 6.0, 6.0);
g_stage.EnableAmp();
g_stage.ResetPos();
g_stage.GetHome( dXHome, dYHome, dZHome);
BOOL bMotion;
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveTo(1.00, 1.000, 1.000, true);
g_stage.GetPos(XPos, YPos, ZPos );
if ( !((XPos < 1.02) && (XPos > 0.98)) &&
!((YPos < 1.02) && (YPos > 0.98)) &&
!((ZPos < 1.02) && (ZPos > 0.98)) )
MessageBox(NULL, "Error with Position","Error Dialog", 1);
g_stage.GetHome( dXHome, dYHome, dZHome);
g_stage.GetCmdAccel(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetCmdAccel(dCmdXAccel, dCmdYAccel, dCmdZAccel );
iError=g_stage.MoveTo(0.0, 0.0, 0.0, true);
g_stage.GetPos(XPos, YPos, ZPos );
if ( !((XPos < 0.02) && (XPos > -0.02)) &&
!((YPos < 0.02) && (YPos > -0.02)) &&
!((ZPos < 0.02) && (ZPos > -0.02)) )
MessageBox(NULL, "Error with Position","Error Dialog", 1);
iError=g_stage.MoveTo(0.000, 0.000, 0.000, true);
g_stage.GetPos(XPos, YPos, ZPos );
g_stage.GetHome( dXHome, dYHome, dZHome);
return 0;
}
int TestPtToPtMotionWithStage()
{
// NMCSERVO Servo;
int iModules;
int iError;
long lPosition;
double dXPosition,dYPosition,dZPosition;
double dCmdXPosition,dCmdYPosition,dCmdZPosition;
double dCmdXSpeed,dCmdYSpeed,dCmdZSpeed;
double dCmdXAccel,dCmdYAccel,dCmdZAccel;
double dVelocity;
double dXHome, dYHome, dZHome;
byte byAD;
iModules=g_stage.Initialize("COM4:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
g_stage.EnableAmp();
g_stage.ResetPos();
g_stage.GetCmdVel(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetSpeed(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetCmdAccel(dCmdXAccel, dCmdYAccel, dCmdZAccel );
BOOL bMotion;
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
iError=g_stage.MoveTo(1.00, 1.000, 1.000, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
g_stage.GetCmdVel(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetCmdAccel(dCmdXAccel, dCmdYAccel, dCmdZAccel );
iError=g_stage.MoveTo(1.201, 1.202, 1.203, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
iError=g_stage.MoveTo(0.000, 0.000, 0.000, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
iError=g_stage.MoveTo(-1.201, -1.202, -1.203, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
iError=g_stage.MoveTo(-0.500, -0.500, -0.500, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
iError=g_stage.MoveTo(0.000, 0.000, 0.000, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
// iError=Servo.move(-8000,2);
// do{
// bMotion=Servo.IsInMotion();
// }
// while(bMotion);
g_stage.GetHome( dXHome, dYHome, dZHome);
return 0;
}
