VALUE stepper_initialize(VALUE self, VALUE serial) {
PhidgetInfo *info = device_info(self);
CPhidgetStepperHandle stepper = 0;
ensure(CPhidgetStepper_create(&stepper));
info->handle = (CPhidgetHandle)stepper;
return rb_call_super(1, &serial);
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
const real_T *Upos = (const real_T*) ssGetInputPortSignal(S,1);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
stepperMove(*Upos, stepper);
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
//Lidar setup
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
//Stepper Setup
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
counter = 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
const real_T *Upos = (const real_T*) ssGetInputPortSignal(S,1);
const int32_T *potVal = (const int32_T*) ssGetInputPortSignal(S,0);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
int zeroPos = 418;
int dpot;
int dstep;
//Zero stepper on start
if (zeroPos > *potVal) {
zeroPos = 418;
}
if (zeroPos < *potVal) {
zeroPos = 419;
}
printf("potVal:%d\n",*potVal);
dpot = zeroPos - *potVal;
printf("Dpot:%d\n",dpot);
dstep = -1036/45*dpot;
printf("Dstep:%d\n",dstep);
//stepperMove(dstep, stepper);
CPhidgetStepper_setCurrentPosition(stepper, 0, 0);
stepperMove(*Upos, stepper);
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
//Lidar setup
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
//Stepper Setup
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
counter = 0;
// Webcam SetUp
capture1 = cvCaptureFromCAM( -1 ); //Sets up Camera Object
if ( !capture1 )
fprintf( stderr, "ERROR: capture is NULL \n" );
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S) {
// Lidar Setup
ret = urg_connect(&urg, device, 115200);
if(ret<0)
urg_exit(&urg, "urg_connect()");
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
// Stepper Setup
// Default 1214 Speed before Speed Input
CPhidgetStepper_create(&stepper);
stepperConnect(1000000, 1214, stepper);
// Zero Counter variables
counter = 0;
camCounter = 0;
lidarCounter = 0;
bothCounter = 0;
// Webcam Setup
capture1 = cvCaptureFromCAM( -1 ); //Sets up Camera Object
if (!capture1)
fprintf( stderr, "ERROR: capture is NULL \n" );
}
