void Ati::nano17Init(char *filename)
{
float Total[6];
unsigned short index = 1; // index of calibration in file (second parameter; default = 1)
cal=createCalibration(filename,index);
// Taking Average samples for bias
for(int j=0;j<AVERAGE_NUM;j++)
{
setVoltage();
for(int k=0;k<6;k++)
Total[k]=Total[k]+voltages[k];
}
for(int k=0;k<6;k++)
Total[k]=Total[k]/AVERAGE_NUM;
Bias(cal,Total);
}
int main(int argc, char *argv[]) {
char *calfilepath; // name of calibration file
unsigned short index; // index of calibration in file (second parameter; default = 1)
Calibration *cal; // struct containing calibration information
unsigned short i,j; // loop variables
// parse arguments
switch (argc) {
case 2:
index=1;
break;
case 3:
index=atoi(argv[2]);
break;
default:
printf("\nUsage: calinfo [calfile] [index]\n");
printf(" [calfile]: path to calibration file\n");
printf(" [index] : index of calibration in file (default=1)\n");
scanf(".");
return 0;
}
calfilepath=argv[1];
// create Calibration struct
cal=createCalibration(calfilepath,index);
if (cal==NULL) {
printf("\nSpecified calibration could not be loaded.\n");
scanf(".");
return 0;
}
// display info from calibration file
printf("Calibration Information for %s, index #%i\n",calfilepath,index);
printf(" Serial: %s\n",cal->Serial);
printf(" Body Style: %s\n",cal->BodyStyle);
printf(" Calibration: %s\n",cal->PartNumber);
printf(" Calibration Date: %s\n",cal->CalDate);
printf(" Family: %s\n",cal->Family);
printf(" # Channels: %i\n",cal->rt.NumChannels);
printf(" # Axes: %i\n",cal->rt.NumAxes);
printf(" Force Units: %s\n",cal->ForceUnits);
printf(" Torque Units: %s\n",cal->TorqueUnits);
printf("Temperature Compensation: %s\n",(cal->TempCompAvailable ? "Yes" : "No"));
// print maximum loads of axes
printf("\nRated Loads\n");
for (i=0;i<cal->rt.NumAxes;i++) {
char *units;
if ((cal->AxisNames[i])[0]=='F') {
units=cal->ForceUnits;
} else units=cal->TorqueUnits;
printf("%s: %f %s\n",cal->AxisNames[i],cal->MaxLoads[i],units);
}
// print working calibration matrix
printf("\nWorking Calibration Matrix\n");
printf(" ");
for (i=0;i<cal->rt.NumChannels-1;i++)
printf("G%i ",i);
printf("\n");
for (i=0;i<cal->rt.NumAxes;i++) {
printf("%s: ",cal->AxisNames[i]);
for (j=0;j<cal->rt.NumChannels-1;j++)
printf("%13.5e ",cal->rt.working_matrix[i][j]);
printf("\n");
}
// print temperature compensation information, if available
if (cal->TempCompAvailable) {
printf("\nTemperature Compensation Information\n");
printf("BS: ");
for (i=0;i<cal->rt.NumChannels-1;i++) {
printf("%13.5e ",cal->rt.bias_slopes[i]);
}
printf("\nGS: ");
for (i=0;i<cal->rt.NumChannels-1;i++) {
printf("%13.5e ",cal->rt.gain_slopes[i]);
}
printf("\nTherm: %f\n",cal->rt.thermistor);
}
// free memory allocated to Calibration structure
destroyCalibration(cal);
//wait for a keypress
scanf(".");
return 0;
}
