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);
}
void main ()
{
/* Variable Declarations */
int Row, Col;
int BoardNum = 0;
int Options;
long PreTrigCount, TotalCount, Rate, ChanCount;
short ChanArray[NUMCHANS];
short ChanTypeArray[NUMCHANS];
short GainArray[NUMCHANS];
int ULStat = 0;
short Status = RUNNING;
int TrigSource, TrigSense, TrigChan, ChanType, Gain, TrigEvent;
float Level, Variance;
long CurCount;
long CurIndex, DataIndex;
int PortNum, Direction;
WORD *ADData;
float RevLevel = (float)CURRENTREVNUM;
/* Declare UL Revision Level */
ULStat = cbDeclareRevision(&RevLevel);
ADData = (WORD*)cbWinBufAlloc(NUMPOINTS * NUMCHANS);
if (!ADData) /* Make sure it is a valid pointer */
{
printf("\nout of memory\n");
exit(1);
}
/* Initiate error handling
Parameters:
PRINTALL :all warnings and errors encountered will be printed
DONTSTOP :program will continue even if error occurs.
Note that STOPALL and STOPFATAL are only effective in
Windows applications, not Console applications.
*/
cbErrHandling (PRINTALL, DONTSTOP);
/* set up the display screen */
ClearScreen();
printf ("Demonstration of cbDaqSetTrigger()\n\n");
/* load the arrays with values */
ChanArray[0] = 0;
ChanTypeArray[0] = ANALOG;
GainArray[0] = BIP10VOLTS;
ChanArray[1] = FIRSTPORTA;
ChanTypeArray[1] = DIGITAL8;
GainArray[1] = NOTUSED;
ChanArray[2] = 0;
ChanTypeArray[2] = CTR16;
GainArray[2] = NOTUSED;
/* configure FIRSTPORTA for digital input */
PortNum = FIRSTPORTA;
Direction = DIGITALIN;
ULStat = cbDConfigPort (BoardNum, PortNum, Direction);
/* Set Triggers
Parameters:
BoardNum :the number used by CB.CFG to describe this board
TrigSource :trigger source
TrigSense :trigger sensitivity
TrigChan :trigger channel
ChanType :trigger channel type
Gain :trigger channel gain
Level :trigger level
Variance :trigger variance
TrigEvent :trigger event type */
/* Start trigger settings.
AD conversions are enabled when analog channel 0 makes a transition from below 2 V to above.*/
TrigSource = TRIG_ANALOG_SW;
TrigSense = RISING_EDGE;
TrigChan = ChanArray[0];
ChanType = ChanTypeArray[0];
Gain = GainArray[0];
Level = 2.0;
Variance = 0;
TrigEvent = START_EVENT;
/* Set start trigger */
ULStat = cbDaqSetTrigger(BoardNum, TrigSource, TrigSense, TrigChan, ChanType , Gain, Level, Variance, TrigEvent);
/* Stop trigger settings.
AD conversions are terminated when counter 0 reaches 100 counts.*/
TrigSource = TRIG_COUNTER;
TrigSense = ABOVE_LEVEL;
TrigChan = ChanArray[2];
ChanType = ChanTypeArray[2];
Gain = GainArray[2];
Level = 100;
Variance = 0;
TrigEvent = STOP_EVENT;
/* Set stop trigger */
ULStat = cbDaqSetTrigger(BoardNum, TrigSource, TrigSense, TrigChan, ChanType , Gain, Level, Variance, TrigEvent);
/* Collect the values with cbDaqInScan() in BACKGROUND mode, CONTINUOUSLY
Parameters:
BoardNum :the number used by CB.CFG to describe this board
ChanArray[] :array of channel values
ChanTypeArray[] : array of channel types
GainArray[] :array of gain values
ChanCount :the number of channels
Rate :sample rate in samples per second
PretrigCount:number of pre-trigger A/D samples to collect
TotalCount :the total number of A/D samples to collect
ADData[] :the array for the collected data values
Options :data collection options */
ChanCount = NUMCHANS;
PreTrigCount = 0;
TotalCount = NUMPOINTS * NUMCHANS;
Rate = 1000; /* sampling rate (samples per second) */
Options = CONVERTDATA + BACKGROUND + CONTINUOUS + EXTTRIGGER; /* data collection options */
ULStat = cbDaqInScan(BoardNum, ChanArray, ChanTypeArray, GainArray, ChanCount, &Rate, &PreTrigCount, &TotalCount, ADData, Options);
if (ULStat==NOERRORS)
{
printf ("\nTrigger signals are needed for this sample.\nSignals required: ACH0 - signal that transitions from below 2V to above.\nCNT0 should have a TTL signal applied.");
printf ("\n\nStart Trigger Source: Channel 0\n");
printf ("Waiting for start trigger....\n\n");
printf ("Press any key to quit.\n\n");
GetTextCursor (&Col, &Row);
/* During the BACKGROUND operation, check the status */
while (!kbhit() && Status==RUNNING)
{
/* Check the status of the current background operation
Parameters:
BoardNum :the number used by CB.CFG to describe this board
Status :current status of the operation (IDLE or RUNNING)
CurCount :current number of samples collected
CurIndex :index to the last data value transferred
FunctionType: A/D operation (DAQIFUNCTION)*/
ULStat = cbGetStatus (BoardNum, &Status, &CurCount, &CurIndex,DAQIFUNCTION);
/* check the current status of the background operation */
DataIndex = CurIndex;
if(DataIndex>=0)
{
MoveCursor (Col, Row);
printf ("Triggered!\n\n");
printf ("\nCollecting data...\n\n");
printf ("Channel 0 Data point: %3ld ", DataIndex);
printf (" Value: %d \n",ADData[DataIndex]);
DataIndex++;
printf ("FIRSTPORTA Data point: %3ld ", DataIndex);
printf (" Value: %d \n",ADData[DataIndex]);
DataIndex++;
printf ("Counter 0 Data point: %3ld ", DataIndex);
printf (" Value: %d ",ADData[DataIndex]);
printf ("\n\nStop Trigger Source: Counter 0 \n");
if (Status==RUNNING)
printf ("Waiting for stop trigger...\n");
else
printf ("\n\nTriggered!");
}
/* else
{
MoveCursor (Col, Row + 11);
printf ("\nTriggered!");
}*/
}
printf ("\n");
MoveCursor (Col, Row + 13);
printf ("Data collection terminated.");
}
/* The BACKGROUND operation must be explicitly stopped
Parameters:
BoardNum :the number used by CB.CFG to describe this board
FunctionType: A/D operation (DAQIFUNCTION)*/
ULStat = cbStopBackground (BoardNum,DAQIFUNCTION);
cbWinBufFree((int)ADData);
MoveCursor (1, 22);
printf ("\n");
}
void main ()
{
/* Variable Declarations */
int Row, Col;
int BoardNum = 0;
int Options;
long PreTrigCount, TotalCount, Rate, ChanCount;
short ChanArray[NUMCHANS];
short ChanTypeArray[NUMCHANS];
short GainArray[NUMCHANS];
int ULStat = 0;
short Status = IDLE;
long CurCount;
long CurIndex, DataIndex;
int PortNum, Direction, CounterNum;
WORD *ADData;
float RevLevel = (float)CURRENTREVNUM;
/* Declare UL Revision Level */
ULStat = cbDeclareRevision(&RevLevel);
ADData = (WORD*)cbWinBufAlloc(NUMPOINTS * NUMCHANS);
if (!ADData) /* Make sure it is a valid pointer */
{
printf("\nout of memory\n");
exit(1);
}
/* Initiate error handling
Parameters:
PRINTALL :all warnings and errors encountered will be printed
DONTSTOP :program will continue even if error occurs.
Note that STOPALL and STOPFATAL are only effective in
Windows applications, not Console applications.
*/
cbErrHandling (PRINTALL, DONTSTOP);
/* set up the display screen */
ClearScreen();
printf ("Demonstration of cbDaqInScan()\n\n");
printf ("Data are being collected in the BACKGROUND, CONTINUOUSLY\n");
/* load the arrays with values */
ChanArray[0] = 0;
ChanTypeArray[0] = ANALOG;
GainArray[0] = BIP10VOLTS;
ChanArray[1] = FIRSTPORTA;
ChanTypeArray[1] = DIGITAL16;
GainArray[1] = NOTUSED;
ChanArray[2] = 0;
ChanTypeArray[2] = CTR32LOW;
GainArray[2] = NOTUSED;
ChanArray[3] = 0;
ChanTypeArray[3] = CTR32HIGH;
GainArray[3] = NOTUSED;
/* configure FIRSTPORTA and FIRSTPORTB for digital input */
PortNum = FIRSTPORTA;
Direction = DIGITALIN;
ULStat = cbDConfigPort (BoardNum, PortNum, Direction);
PortNum = FIRSTPORTB;
ULStat = cbDConfigPort (BoardNum, PortNum, Direction);
// configure counter 0
CounterNum = ChanArray[2];
ULStat = cbCConfigScan(BoardNum, CounterNum, ROLLOVER, CTR_DEBOUNCE_NONE, 0, CTR_RISING_EDGE, 0, CounterNum);
/* Collect the values with cbDaqInScan() in BACKGROUND mode, CONTINUOUSLY
Parameters:
BoardNum :the number used by CB.CFG to describe this board
ChanArray[] :array of channel values
ChanTypeArray[] : array of channel types
GainArray[] :array of gain values
ChanCount :the number of channels
Rate :sample rate in samples per second
PretrigCount:number of pre-trigger A/D samples to collect
TotalCount :the total number of A/D samples to collect
ADData[] :the array for the collected data values
Options :data collection options */
ChanCount = NUMCHANS;
PreTrigCount =0;
TotalCount = NUMPOINTS * NUMCHANS;
Rate = 1000; /* sampling rate (samples per second) */
Options = CONVERTDATA + BACKGROUND + CONTINUOUS; /* data collection options */
ULStat = cbDaqInScan(BoardNum, ChanArray, ChanTypeArray, GainArray, ChanCount, &Rate, &PreTrigCount, &TotalCount, ADData, Options);
printf ("--------------------------------------------------------------------------------");
printf ("| Your program could be doing something useful here while data are collected...|");
printf ("--------------------------------------------------------------------------------");
printf ("\nCollecting data...\n\n");
printf ("Press any key to quit.\n\n");
GetTextCursor (&Col, &Row);
if(ULStat == NOERRORS)
Status = RUNNING;
/* During the BACKGROUND operation, check the status */
while (!kbhit() && Status==RUNNING)
{
/* Check the status of the current background operation
Parameters:
BoardNum :the number used by CB.CFG to describe this board
Status :current status of the operation (IDLE or RUNNING)
CurCount :current number of samples collected
CurIndex :index to the last data value transferred
FunctionType: A/D operation (DAQIFUNCTION)*/
ULStat = cbGetStatus (BoardNum, &Status, &CurCount, &CurIndex,DAQIFUNCTION);
/* check the current status of the background operation */
if (Status == RUNNING)
{
DataIndex = CurIndex - CurIndex % NUMCHANS - NUMCHANS;
if(DataIndex>0)
{
MoveCursor (Col, Row);
printf ("Channel 0 Data point: %3ld ", DataIndex);
printf (" Value: %d \n",ADData[DataIndex]);
DataIndex++;
printf ("FIRSTPORTA Data point: %3ld ", DataIndex);
printf (" Value: %d \n",ADData[DataIndex]);
DataIndex++;
printf ("Counter 0 Data point: %3ld ", DataIndex);
printf (" Value: %u ",ADData[DataIndex] + (ADData[DataIndex+1]<<16)); // 32-bit counter
}
}
}
printf ("\n");
MoveCursor (Col, Row + 4);
printf ("Data collection terminated.");
/* The BACKGROUND operation must be explicitly stopped
Parameters:
BoardNum :the number used by CB.CFG to describe this board
FunctionType: A/D operation (DAQIFUNCTION)*/
ULStat = cbStopBackground (BoardNum,DAQIFUNCTION);
cbWinBufFree((int)ADData);
MoveCursor (1, 22);
printf ("\n");
}
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;
}
