int TestPtToPtAndCoordStageMotion()
{
int iModule;
int iError;
double dX, dY, dZ;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
// g_stage.EnableAmp();
// g_stage.ResetPos();
// g_stage.SetPathStatus();
// g_stage.EnableAmp();
// g_stage.ResetPos();
// g_stage.SetPathStatus();
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
// InitServoPathParams(P_30HZ,1, 2, 3);
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(0.175); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
BOOL bMotion;
iError=g_stage.MoveTo(0.0, 0.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath);
ExecutePath3Axis();
iError=g_stage.MoveTo(1.0, 0.000, 0.000, true);
iError=g_stage.MoveTo(1.0, 0.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath );
ExecutePath3Axis();
iError=g_stage.MoveTo(-1.0, 1.000, 0.0, true);
iError=g_stage.MoveTo(-1.0, 1.000, -0.5, true);
g_stage.GetPos( dX, dY, dZ );
CreatePath1A_XOffset( dX, dY, dZ, vPath );
ExecutePath3Axis();
iError=g_stage.MoveTo(0.0, 0.000, 0.000, true);
return 0;
};
int TestCoordMotionCircleAtOrigin()
{
int iModule;
int iError;
double dX=0.0, dY=0.0, dZ=0.0;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(0.175); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
BOOL bMotion;
iError=g_stage.MoveTo(2.5, 0.0, 0.0, true);
g_stage.GetPos( dX, dY, dZ );
vPath.ClearSegListA(2.5, 0.0, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
int res;
res = vPath.AddArcSegA( 0.0, 2.5, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(0.0, 2.5, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
res = vPath.AddArcSegA( -2.5, 0.0, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
// ExecutePath3Axis();
// iError=g_stage.MoveTo(-1.0, 1.000, 0.0, true);
// iError=g_stage.MoveTo(-1.0, 1.000, -0.5, true);
// g_stage.GetPos( dX, dY, dZ );
// CreatePath1A_XOffset( dX, dY, dZ );
// ExecutePath3Axis();
iError=g_stage.MoveTo(0.0, 0.000, 0.000, true);
return 0;
};
int TestPtToPtMotionShort()
{
// NMCSERVO Servo;
int iModules;
int iError;
long lPosition;
double XPos,YPos,ZPos;
double CmXPos,CmdYPos,CmdZPos;
double dCmdXSpeed,dCmdYSpeed,dCmdZSpeed;
double dCmdXAccel,dCmdYAccel,dCmdZAccel;
double dVelocity;
double dXHome, dYHome, dZHome;
byte byAD;
iModules=g_stage.Initialize("COM4:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(6.0, 6.0, 6.0);
g_stage.EnableAmp();
g_stage.ResetPos();
g_stage.GetHome( dXHome, dYHome, dZHome);
BOOL bMotion;
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.00, 0.00, 0.15, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.15, 0.00, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveRel(0.00, 0.15, 0.00, true);
iError=g_stage.MoveTo(1.00, 1.000, 1.000, true);
g_stage.GetPos(XPos, YPos, ZPos );
if ( !((XPos < 1.02) && (XPos > 0.98)) &&
!((YPos < 1.02) && (YPos > 0.98)) &&
!((ZPos < 1.02) && (ZPos > 0.98)) )
MessageBox(NULL, "Error with Position","Error Dialog", 1);
g_stage.GetHome( dXHome, dYHome, dZHome);
g_stage.GetCmdAccel(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetCmdAccel(dCmdXAccel, dCmdYAccel, dCmdZAccel );
iError=g_stage.MoveTo(0.0, 0.0, 0.0, true);
g_stage.GetPos(XPos, YPos, ZPos );
if ( !((XPos < 0.02) && (XPos > -0.02)) &&
!((YPos < 0.02) && (YPos > -0.02)) &&
!((ZPos < 0.02) && (ZPos > -0.02)) )
MessageBox(NULL, "Error with Position","Error Dialog", 1);
iError=g_stage.MoveTo(0.000, 0.000, 0.000, true);
g_stage.GetPos(XPos, YPos, ZPos );
g_stage.GetHome( dXHome, dYHome, dZHome);
return 0;
}
int TestPtToPtMotionInPCSWithStage()
{
// NMCSERVO Servo;
int iModules;
int iError;
long lPosition;
double dXPosition,dYPosition,dZPosition;
double dCmdXPosition,dCmdYPosition,dCmdZPosition;
double dCmdXSpeed,dCmdYSpeed,dCmdZSpeed;
double dCmdXAccel,dCmdYAccel,dCmdZAccel;
double dVelocity;
double dXHome, dYHome, dZHome;
byte byAD;
iModules=g_stage.Initialize("COM3:");
SetScaling_3Axis();
SetPIDGain_3Axis();
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
g_stage.EnableAmp();
g_stage.ResetPos();
g_stage.GetCmdVel(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetSpeed(dCmdXSpeed, dCmdYSpeed, dCmdZSpeed);
g_stage.GetCmdAccel(dCmdXAccel, dCmdYAccel, dCmdZAccel );
BOOL bMotion;
iError=g_stage.MoveTo(0.0, 0.0, 0.0, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
double x,y,z;
x=0.5;y= 0.0;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.0;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= 0.0;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.0;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.5;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=0.5;y= -0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
x=-0.5;y= 0.5;z= 0.0;
iError=g_stage.MoveTo(x,y,z, true);
g_stage.GetPos(dXPosition, dYPosition, dZPosition );
// iError=Servo.move(-8000,2);
// do{
// bMotion=Servo.IsInMotion();
// }
// while(bMotion);
// g_stage.GetHome( dXHome, dYHome, dZHome);
return 0;
}
