position_tracking.cpp

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#include "examples.h"

#include <iostream> //std::cout
using namespace std;

GReturn position_tracking(GCon g, int speed)
{
  char buf[G_SMALL_BUFFER]; //traffic buffer
  int acc = 100 * speed; //set acceleration/deceleration to 100 times speed
  
  if (g == 0) //Bad connection
  {
    cerr << "There was an error with the connection." << endl;
    return G_CONNECTION_NOT_ESTABLISHED;
  }

  e(GCmd(g, "STA"));    // stop motor
  e(GMotionComplete(g, "A")); //Wait for motion to complete
  e(GCmd(g, "SHA"));   // Set servo here
  e(GCmd(g, "DPA=0")); // Start position at absolute zero
  e(GCmd(g, "PTA=1")); // Start position tracking mode on A axis

  sprintf(buf, "SPA=%d", speed);
  e(GCmd(g, buf)); // Set speed

  sprintf(buf, "ACA=%d", acc);
  e(GCmd(g, buf)); // Set acceleration

  sprintf(buf, "DCA=%d", acc);
  e(GCmd(g, buf)); // Set deceleration
  
  cout << "Begin Position Tracking with speed " << speed;
  cout << ". Enter a non-number to exit.\n";
  int position;

  //Loop asking user for new position.  End loop when user enters a non-number
  while (1) 
  {
    cout << "Enter a new position:\n";
    cin >> position;

    if (cin.fail()) //A non-number was entered
    {
      cout << "Position Tracking has exited\n";
      break;
    }
    else
    {
      sprintf(buf, "PAA=%d", position);
      e(GCmd(g, buf)); // Go to new position
    }
  }

  e(GCmd(g, "STA")); //stop motor
  e(GMotionComplete(g, "A")); //Wait for motion to complete

  return  GALIL_EXAMPLE_OK;
}