Controller

Manage a Galil controller. More...

Topics
	Communication
	Send commands.
	Memory
	Manage controller memory, such as program and arrays.
	Unsolicited Data
	Receive messages, interrupts, and data records.

Functions
GCLIB_DEPRECATED GReturn	GWaitForBool (GCon g, GCStringIn predicate, int trials)
	Blocking call that returns when the controller evaluates the predicate as true.
GCLIB_DEPRECATED GReturn	GMotionComplete (GCon g, GCStringIn axes)
	Blocking call that returns once all axes specified have completed their motion.

Detailed Description

Manage a Galil controller.

Function Documentation

GWaitForBool()

GCLIB_DEPRECATED GReturn GWaitForBool	(	GCon	g,
		GCStringIn	predicate,
		int	trials )

Blocking call that returns when the controller evaluates the predicate as true.

Deprecated

This function is part of the deprecated C (Legacy) API, which will be removed in a future release.

Polls the message command (MG) to check the value of predicate. Polling will continue until the controller responds with a nonzero value or the number of polling trials is reached.

The amount of time until the function fails with G_GCLIB_POLLING_FAILED is roughly (trials * POLLINGINTERVAL) milliseconds.

Parameters

g	Connection's handle.
predicate	A null-terminated string containing the predicate to be polled. The predicate will be enclosed in parentheses and used in the command MG (predicate) to return the value.
trials	The number of polling cycles to perform looking for a nonzero value. Use -1 to poll indefinitely.

Returns

The success status or error code of the function. See gclib_errors.h for possible values.

See GMotionComplete() for an example.

GMotionComplete()

GCLIB_DEPRECATED GReturn GMotionComplete	(	GCon	g,
		GCStringIn	axes )

Blocking call that returns once all axes specified have completed their motion.

Deprecated

This function is part of the deprecated C (Legacy) API, which will be removed in a future release.

Note

This function uses a profiled motion indicator, not the position of the encoder. E.G. see the difference between AM (profiled) and MC (encoder-based).

Although using the _BGm operand is the most generally compatible method, there are higher-performance ways to check for motion complete by using the data record, or interrupts. See examples x_dr_motioncomplete() and x_ei_motioncomplete().

Parameters

g	Connection's handle.
axes	A null-terminated string containing a multiple-axes mask. Every character in the string should be a valid argument to MG_BGm, i.e. XYZWABCDEFGHST.

Returns

The success status or error code of the function. See gclib_errors.h for possible values.