int main()
{
double desired_angle;
int32_t desired_tick;
int32_t Kd = .5 * ACCURACY;
int32_t Kp = 5 * ACCURACY;
int32_t Ki = .0001 * ACCURACY;
int32_t error=0xFFFF;
/* must be called before any other calls */
printf("Initializing...\n");
NiFpga_Status status = NiFpga_Initialize();
if (NiFpga_IsNotError(status))
{
NiFpga_Session session;
/* opens a session, downloads the bitstream, and runs the FPGA */
printf("Opening a session...\n");
NiFpga_MergeStatus(&status,
NiFpga_Open(NiFpga_Math_Pid_Bitfile, NiFpga_Math_Pid_Signature,
"rio://146.6.84.251/RIO0",
NiFpga_OpenAttribute_NoRun,&session));
if (NiFpga_IsNotError(status))
{
/* run the FPGA application */
printf("Running the FPGA...\n");
NiFpga_MergeStatus(&status, NiFpga_Run(session, 0));
/********************************************************************/
/* Code goes here */
NiFpga_MergeStatus(&status,
NiFpga_WriteBool(session,NiFpga_Encoder_Reset,0));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kd,Kd));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kp,Kp));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Ki,Ki));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Accuracy,ACCURACY));
printf("Enter Desired(in degrees): ");
scanf("%lf",&desired_angle);
desired_tick = degree_tick(desired_angle);
printf("Desired(in ticks) %d\n", desired_tick);
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Desired,desired_tick));
printf("Entering loop\n");
while(error != 0) {
NiFpga_MergeStatus(&status,
NiFpga_ReadI32(session,NiFpga_RealError,&error)); printf("Error:%d\n", error);
}
/********************************************************************/
/* Stopping */
printf("Press <Enter> to stop and quit...");
getchar();
/* stop the FPGA loops */
printf("Stopping the FPGA...\n");
/* close the session now that we're done */
printf("Closing the session...\n");
NiFpga_MergeStatus(&status, NiFpga_Close(session, 0));
}
/* must be called after all other calls */
printf("Finalizing...\n");
NiFpga_MergeStatus(&status, NiFpga_Finalize());
}
/* check if anything went wrong */
if (NiFpga_IsError(status))
{
printf("Error %d!\n", status);
printf("Press <Enter> to quit...\n");
getchar();
}
return status;
}
bool nifpga::WriteI32(uint32_t control, int32_t value) {
if (sessionOpen) return HandleStatus(NiFpga_WriteI32(sessionHandle, control, value));
return false;
}
