gclib  2.0.8
Communications API for Galil controllers and PLCs
position_tracking.cs
Go to the documentation of this file.
1 
10 using System;
11 
12 namespace examples
13 {
14  public static partial class Examples
15  {
27 
28  public static int Position_Tracking(gclib gclib, int speed)
29  {
30  int acc = 100 * speed; // Set acceleration/deceleration to 100 times speed
31 
32  gclib.GCommand("STA"); // Stop motor
33  gclib.GMotionComplete("A"); // Wait for motion to complete
34  gclib.GCommand("SHA"); // Set servo here
35  gclib.GCommand("DPA=0"); // Start position at absolute zero
36  gclib.GCommand("PTA=1"); // Start position tracking mode on A axis
37 
38  gclib.GCommand("SPA=" + speed); // Set speed
39  gclib.GCommand("ACA=" + acc); // Set acceleration
40  gclib.GCommand("DCA=" + acc); // Set deceleration
41 
42  Console.WriteLine("Begin Position Tracking with speed " + speed +
43  ". Enter a non-number to exit.\n");
44  int position;
45 
46  //Loop asking user for new position. End loop when user enters a non-number
47  while (true)
48  {
49  Console.WriteLine("Enter a new position:");
50  bool ok = int.TryParse(Console.ReadLine(), out position);
51 
52  if (ok) //A valid position was provided
53  {
54  gclib.GCommand("PAA=" + position); // Go to new position
55  }
56  else //A non-number was entered
57  {
58  Console.WriteLine("Position Tracking has exited");
59  break;
60  }
61  }
62 
63  gclib.GCommand("STA"); //stop motor
64  gclib.GMotionComplete("A"); //Wait for motion to complete
65 
66  return GALIL_EXAMPLE_OK;
67  }
69  }
70 }
const int GALIL_EXAMPLE_OK
Examples success code.
Definition: examples.cs:29
string GCommand(string Command, bool Trim=true)
Used for command-and-response transactions.
Definition: gclib.cs:257
void GMotionComplete(string axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclib.cs:428
Provides a class that binds to gclib's unmanaged dll. Wraps each call and provides a more user-friend...
Definition: gclib.cs:68
static int Position_Tracking(gclib gclib, int speed)
Puts controller into Position Tracking Mode and accepts user-entered positions.
´╗┐partial Module Examples
Definition: Commands.vb:4