| gclib 556 Communications API for Galil controllers and PLCs |

position_tracking.cpp
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1
10 #include "examples.h"
11
12 #include <iostream> //std::cout
13 using namespace std;
14
15 GReturn position_tracking(GCon g, int speed)
16 {
17 char buf[G_SMALL_BUFFER]; //traffic buffer
18 int acc = 100 * speed; //set acceleration/deceleration to 100 times speed
19
20 if (g == 0) //Bad connection
21 {
22 cerr << "There was an error with the connection." << endl;
23 return G_CONNECTION_NOT_ESTABLISHED;
24 }
25
26 e(GCmd(g, "STA")); // stop motor
27 e(GMotionComplete(g, "A")); //Wait for motion to complete
28 e(GCmd(g, "SHA")); // Set servo here
29 e(GCmd(g, "DPA=0")); // Start position at absolute zero
30 e(GCmd(g, "PTA=1")); // Start position tracking mode on A axis
31
32 sprintf(buf, "SPA=%d", speed);
33 e(GCmd(g, buf)); // Set speed
34
35 sprintf(buf, "ACA=%d", acc);
36 e(GCmd(g, buf)); // Set acceleration
37
38 sprintf(buf, "DCA=%d", acc);
39 e(GCmd(g, buf)); // Set deceleration
40
41 cout << "Begin Position Tracking with speed " << speed;
42 cout << ". Enter a non-number to exit.\n";
43 int position;
44
45 //Loop asking user for new position. End loop when user enters a non-number
46 while (1)
47 {
48 cout << "Enter a new position:\n";
49 cin >> position;
50
51 if (cin.fail()) //A non-number was entered
52 {
53 cout << "Position Tracking has exited\n";
54 break;
55 }
56 else
57 {
58 sprintf(buf, "PAA=%d", position);
59 e(GCmd(g, buf)); // Go to new position
60 }
61 }
62
63 e(GCmd(g, "STA")); //stop motor
64 e(GMotionComplete(g, "A")); //Wait for motion to complete
65
66 return GALIL_EXAMPLE_OK;
67 }
examples.h
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().
Definition: gclib.h:92
position_tracking
GReturn position_tracking(GCon g, int speed=5000)
Puts controller into Position Tracking Mode and accepts user-entered positions.
Definition: position_tracking.cpp:15
G_CONNECTION_NOT_ESTABLISHED
#define G_CONNECTION_NOT_ESTABLISHED
Function was called with no connection.
Definition: gclib_errors.h:61
GMotionComplete
GCLIB_DLL_EXPORTED GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclibo.c:300
G_SMALL_BUFFER
#define G_SMALL_BUFFER
Most reads from Galil are small. This value will easily hold most, e.g. TH, TZ, etc.
Definition: gclib.h:87
GCmd
GCLIB_DLL_EXPORTED GReturn GCALL GCmd(GCon g, GCStringIn command)
Wrapper around GCommand for use when the return value is not desired.
Definition: gclibo.c:237
e
void e(GReturn rc)
A trivial, C++ style return code check used in Galil's examples and demos.
Definition: examples.h:30
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:91