// Returns the tick value of the right motor int32_t FPGA_GetRightMotorTicks() { int32_t ticks; NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI32(FPGA_Session,NiFpga_mainFPGA_IndicatorI32_RPosMotor,&ticks)); if (NiFpga_IsError(FPGA_Status)) { LOG.ERR("Get Right Motor Ticks Failed."); } return ticks; }
// Returns the tick value on the right wheel int32_t FPGA_GetRightWheelTicks() { int32_t ticks; NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI32(FPGA_Session,NiFpga_mainFPGA_IndicatorI32_RPosWheel,&ticks)); if (NiFpga_IsError(FPGA_Status)) { LOG.ERR("Get Right Wheel Ticks Failed."); } LOG.DATA("RwT = %d",ticks); return ticks; }
void lia_readI32(double control[], int32_t value[]) { /* Create status, initialize to good */ NiFpga_Status status = NiFpga_Status_Success; /* Create a session variable */ NiFpga_Session session; /* Load the NiFpga library */ NiFpga_Initialize(); /* Load bitfile */ NiFpga_Open(NiFpga_lockin_fpga_Bitfile, NiFpga_lockin_fpga_Signature, "RIO0", NiFpga_OpenAttribute_NoRun,&session); /* Read value from control */ NiFpga_ReadI32(session, control[0], value); /* Close session */ NiFpga_Close(session,0); NiFpga_Finalize(); }
int main() { double desired_angle; int32_t desired_tick; int32_t Kd = .5 * ACCURACY; int32_t Kp = 5 * ACCURACY; int32_t Ki = .0001 * ACCURACY; int32_t error=0xFFFF; /* must be called before any other calls */ printf("Initializing...\n"); NiFpga_Status status = NiFpga_Initialize(); if (NiFpga_IsNotError(status)) { NiFpga_Session session; /* opens a session, downloads the bitstream, and runs the FPGA */ printf("Opening a session...\n"); NiFpga_MergeStatus(&status, NiFpga_Open(NiFpga_Math_Pid_Bitfile, NiFpga_Math_Pid_Signature, "rio://146.6.84.251/RIO0", NiFpga_OpenAttribute_NoRun,&session)); if (NiFpga_IsNotError(status)) { /* run the FPGA application */ printf("Running the FPGA...\n"); NiFpga_MergeStatus(&status, NiFpga_Run(session, 0)); /********************************************************************/ /* Code goes here */ NiFpga_MergeStatus(&status, NiFpga_WriteBool(session,NiFpga_Encoder_Reset,0)); NiFpga_MergeStatus(&status, NiFpga_WriteI32(session,NiFpga_Kd,Kd)); NiFpga_MergeStatus(&status, NiFpga_WriteI32(session,NiFpga_Kp,Kp)); NiFpga_MergeStatus(&status, NiFpga_WriteI32(session,NiFpga_Ki,Ki)); NiFpga_MergeStatus(&status, NiFpga_WriteI32(session,NiFpga_Accuracy,ACCURACY)); printf("Enter Desired(in degrees): "); scanf("%lf",&desired_angle); desired_tick = degree_tick(desired_angle); printf("Desired(in ticks) %d\n", desired_tick); NiFpga_MergeStatus(&status, NiFpga_WriteI32(session,NiFpga_Desired,desired_tick)); printf("Entering loop\n"); while(error != 0) { NiFpga_MergeStatus(&status, NiFpga_ReadI32(session,NiFpga_RealError,&error)); printf("Error:%d\n", error); } /********************************************************************/ /* Stopping */ printf("Press <Enter> to stop and quit..."); getchar(); /* stop the FPGA loops */ printf("Stopping the FPGA...\n"); /* close the session now that we're done */ printf("Closing the session...\n"); NiFpga_MergeStatus(&status, NiFpga_Close(session, 0)); } /* must be called after all other calls */ printf("Finalizing...\n"); NiFpga_MergeStatus(&status, NiFpga_Finalize()); } /* check if anything went wrong */ if (NiFpga_IsError(status)) { printf("Error %d!\n", status); printf("Press <Enter> to quit...\n"); getchar(); } return status; }
bool nifpga::ReadI32(uint32_t indicator, int32_t* value) { if (sessionOpen) return HandleStatus(NiFpga_ReadI32(sessionHandle, indicator, value)); return false; }