DCMotorCommand::~DCMotorCommand(void)
{
for(int i = 0; i < numMotors; i++) {
cbVOut(BoardNumVoltage, 2 * i, voltageGain, 0, Options);
}
cbDOut(BoardNumVoltage, 1, 0);
}
int DCMotorCommand::SendVoltageArrayOut(double *voltages)
{
for(int i = 0; i < numMotors; i++) {
if(*(voltages + i) >= minVoltage && *(voltages + i) <= maxVoltage) {
cbVOut(BoardNumVoltage, 2 * i, voltageGain, *(voltages + i), Options);
motorVoltages[i] = *(voltages+i);
}
}
return 0;
}
bool MccUSBDAQDevice::setOutputVoltage(int channel, float outputVoltage)
{
bool success = false;
if (driverMutex != 0)
{
driverMutex->lock();
// the cbw.h library requires that this takes a float?! really?
UDStat = cbVOut (boardNum, analogInChannels.find(channel)->second, DAOutRange, outputVoltage, Options);
if(UDStat == NOERRORS)
success = true;
driverMutex->unlock();
}
return success;
}
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 ch;
int Row, Col;
int BoardNum = 0;
int ULStat = 0;
int Gain = BIP10VOLTS;
int Options = DEFAULTOPTION;
int Chan;
float DataValue;
int UDStat = 0;
float min, max;
float RevLevel = (float)CURRENTREVNUM;
/* Declare UL Revision Level */
ULStat = cbDeclareRevision(&RevLevel);
/* 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 cbVOut()\n\n");
/* get the D/A channel to sample */
printf ("Enter the channel to display: ");
scanf("%i", &Chan);
printf ("\n\nNote: Please make certain that the board you are using supports\n");
printf (" the gain you are choosing and if it is not a programmable\n");
printf (" gain that the switches on the board are set correctly.\n\n");
GetTextCursor (&Col, &Row);
while (Gain > 0 && !kbhit())
{
do
{ /* select gain */
MoveCursor(Col,Row);
printf("Please select one of the following ranges(1 to 4):\n\n");
printf(" 10 VOLTS UNIPOLAR --> 1\n");
printf(" 10 VOLTS BIPOLAR ---> 2\n");
printf(" 5 VOLTS UNIPOLAR --> 3\n");
printf(" 5 VOLTS BIPOLAR ---> 4\n");
printf(" Quit ---> 0\n\n");
printf(" Your Choice ---> ");
scanf ("%i",&Gain);
} while ((Gain < 0) || (Gain > 4));
/* Set Gain, MaxVal, and MinVal */
switch (Gain)
{
case 0:
exit(1);
case 1:
Gain = UNI10VOLTS;
min=0.0;
max=10.0;
break;
case 2:
Gain = BIP10VOLTS;
min=-10.0;
max=10.0;
break;
case 3:
Gain = UNI5VOLTS;
min=0.0;
max=5.0;
break;
case 4:
Gain = BIP5VOLTS;
min=-5.0;
max=5.0;
break;
default:
break;
}
UDStat = NOERRORS;
while (UDStat == NOERRORS)
{
printf ("\n\nEnter a voltage between %.1f and +%.1f: ", min, max);
scanf ("%f", &DataValue);
ULStat = cbVOut (BoardNum, Chan, Gain, DataValue, Options);
if(UDStat == NOERRORS)
{
printf ("\n %.2f volts has been sent to D/A %d.\n\n", DataValue, Chan);
printf ("Press Q to quit , any other key to continue:\n ");
while (!kbhit()){}
ch=getch();
if (ch=='q' || ch=='Q')
exit(1);
}
}
}
}
