int InitNMCModule3AxisStatic (int & iModules, Stage & stage, Path & path)
{
iModules=stage.Initialize("COM4:");
if (iModules < 3)
{
MessageBox(NULL,"3 servos not found","",MB_TASKMODAL | MB_SETFOREGROUND);
return -1;
}
stage.Rotate(180.0);
//Set the group address for both controllers to 128
stage.SetGroupAddress(128, eXAxis);
SetScaling_3AxisStatic(stage);
SetPIDGain_3AxisStatic(stage);
ServoOnNMCModule3AxisStatic(stage);
//Set the required status items for the path control module
stage.SetPathStatus();
// ServoSetIoCtrl(1, IO1_IN | IO2_IN);
// ServoSetIoCtrl(2, IO1_IN | IO2_IN);
// ServoSetIoCtrl(3, IO1_IN | IO2_IN);
return 0;
};
int TestPtToPtAndCoordStageMotion()
{
int iModule;
int iError;
double dX, dY, dZ;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
g_stage.Rotate(180.0);
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.SetPathStatus();
// g_stage.EnableAmp();
// g_stage.ResetPos();
// g_stage.SetPathStatus();
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
// InitServoPathParams(P_30HZ,1, 2, 3);
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(0.175); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
BOOL bMotion;
iError=g_stage.MoveTo(0.0, 0.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath);
ExecutePath3Axis();
iError=g_stage.MoveTo(1.0, 0.000, 0.000, true);
iError=g_stage.MoveTo(1.0, 0.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath );
ExecutePath3Axis();
iError=g_stage.MoveTo(-1.0, 1.000, 0.0, true);
iError=g_stage.MoveTo(-1.0, 1.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath );
ExecutePath3Axis();
iError=g_stage.MoveTo(0.0, 0.000, 0.000, true);
return 0;
};
int TestCoordMotionCircleAtOrigin()
{
int iModule;
int iError;
double dX=0.0, dY=0.0, dZ=0.0;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(0.175); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
BOOL bMotion;
iError=g_stage.MoveTo(2.5, 0.0, 0.0, true);
g_stage.GetPos( dX, dY, dZ );
vPath.ClearSegListA(2.5, 0.0, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
int res;
res = vPath.AddArcSegA( 0.0, 2.5, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(0.0, 2.5, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
res = vPath.AddArcSegA( -2.5, 0.0, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
// ExecutePath3Axis();
// iError=g_stage.MoveTo(-1.0, 1.000, 0.0, true);
// iError=g_stage.MoveTo(-1.0, 1.000, -0.5, true);
// g_stage.GetPos( dX, dY, dZ );
// CreatePath1A_XOffset( dX, dY, dZ );
// ExecutePath3Axis();
iError=g_stage.MoveTo(0.0, 0.000, 0.000, true);
return 0;
};
int TestCoordMotionShortPath()
{
int iError;
int res;
int iModule;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
if (iModule < 3)
return -1;
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
6684.57447, //X scale - 20000.0 counts per inch
6684.57447, //Y scale - 20000.0 counts per inch
2*6684.57447, //Z scale - 1.0 counts per inch - not used
1.0); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(1.0); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
double x,y,z;
// g_stage.GetPos(x,y,z);
// InitPathParam(P_60HZ, 60,
// 6684.57447, 6684.57447, 2*6684.57447,
// 1.0,
// 1.0);
g_stage.GetPos(x,y,z);
g_stage.ResetPos();
//Clear the segment list and set the starting point for the path
// at X = 0, Y = 1, Z = 0
vPath.ClearSegListA(0,0,0);
//Add a segment to move to x=0, y=2, z=0
res = vPath.AddLineSegA(0.0, 1.0, 0.0);
if (res<0) return -1;
res = vPath.AddArcSegA( 1.0, 2.0, 0.0, //end point of arc: x=1, y=2, z=0
1.0, 1.0, 0.0, //center point of arc: x=1, y=1, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(1.0, 2.0, 0.0);
g_stage.GetPos(x,y,z);
res = vPath.AddLineSegA(2.0, 2.0, 0.0); //line segment endpoint: x=4, y=3, z=0
if (res<0) return -1;
res = vPath.AddArcSegA( 3.0, 1.0, 0.0, //end point of arc: x=5, y=2, z=0
2.0, 1.0, 0.0, //center point of arc: x=4, y=2, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(0.0, 0.0, 0.0);
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
ResetModules(iModule);
return 0;
};
int TestPtToPtMotionInPCSCommand()
{
// 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("COM9:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.Rotate(180.0);
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 );
millCmd millctrl;
BOOL bMotion;
// iError=g_stage.MoveTo(0.0, 0.0, 0.0, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove1 = new stageMoveXYZ(g_stage, 0.0, 0.0, 0.0);
millctrl.SetCommand(stagemove1);
stageGetPos *stagegetpos1 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos1);
double x,y,z;
// x=0.5;y= 0.0;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove2 = new stageMoveXYZ(g_stage,0.5, 0.0, 0.0);
millctrl.SetCommand(stagemove2);
stageGetPos *stagegetpos2 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos2);
// x=0.0;y= 0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove3 = new stageMoveXYZ(g_stage,0.0, 0.5, 0.0);
millctrl.SetCommand(stagemove3);
stageGetPos *stagegetpos3 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos3);
// x=-0.5;y= 0.0;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove4 = new stageMoveXYZ(g_stage,-0.5, 0.0, 0.0);
millctrl.SetCommand(stagemove4);
stageGetPos *stagegetpos4 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos4);
// x=0.0;y= -0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove5 = new stageMoveXYZ(g_stage,0.0, -0.5, 0.0);
millctrl.SetCommand(stagemove5);
stageGetPos *stagegetpos5 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos5);
// x=0.5;y= 0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove6 = new stageMoveXYZ(g_stage,0.5, 0.5, 0.0);
millctrl.SetCommand(stagemove6);
stageGetPos *stagegetpos6 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos6);
// x=-0.5;y= -0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove7 = new stageMoveXYZ(g_stage,-0.5, 0.5, 0.0);
millctrl.SetCommand(stagemove7);
stageGetPos *stagegetpos7 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos7);
// x=0.5;y= -0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove8 = new stageMoveXYZ(g_stage,0.5, -0.5, 0.0);
millctrl.SetCommand(stagemove8);
stageGetPos *stagegetpos8 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos8);
// x=-0.5;y= 0.5;z= 0.0;
// iError=g_stage.MoveTo(x,y,z, true);
// g_stage.GetPos(dXPosition, dYPosition, dZPosition );
stageMoveXYZ *stagemove9 = new stageMoveXYZ(g_stage,-0.5, 0.5, 0.0);
millctrl.SetCommand(stagemove9);
stageGetPos *stagegetpos9 = new stageGetPos(g_stage);
millctrl.SetCommand(stagegetpos9);
int numberOfCommands =millctrl.GetNumberOfCommands();
for (int i=0; i <= numberOfCommands-1;i++)
{
millctrl.execute(i);
}
// iError=Servo.move(-8000,2);
// do{
// bMotion=Servo.IsInMotion();
// }
// while(bMotion);
// g_stage.GetHome( dXHome, dYHome, dZHome);
return 0;
}
int TestPtToPtMotionInPCSWithStage()
{
// 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("COM3:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.Rotate(180.0);
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;
iError=g_stage.MoveTo(0.0, 0.0, 0.0, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
double x,y,z;
x=0.5;y= 0.0;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.0;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= 0.0;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.0;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.5;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.5;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, 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;
}