Imported Upstream version 2.1.8.20120216upstream/2.1.8.20120216

1 files changed, 331 insertions, 0 deletions

diff --git a/cphidgetmotorcontrol.h b/cphidgetmotorcontrol.h
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+#ifndef __CPHIDGETMOTORCONTROL
+#define __CPHIDGETMOTORCONTROL
+#include "cphidget.h"
+
+/** \defgroup phidmotorcontrol Phidget Motor Control 
+ * \ingroup phidgets
+ * Calls specific to the Phidget Motor Control. See the product manual for more specific API details, supported functionality, units, etc.
+ * @{
+ */
+
+DPHANDLE(MotorControl)
+CHDRSTANDARD(MotorControl)
+
+/**
+ * Gets the number of motors supported by this controller.
+ * @param phid An attached phidget motor control handle.
+ * @param count The motor count.
+ */
+CHDRGET(MotorControl,MotorCount,int *count)
+
+/**
+ * Gets the current velocity of a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param velocity The current velocity.
+ */
+CHDRGETINDEX(MotorControl,Velocity,double *velocity)
+/**
+ * Sets the velocity of a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param velocity The velocity.
+ */
+CHDRSETINDEX(MotorControl,Velocity,double velocity)
+/**
+ * Sets a velocity change event handler. This is called when the velocity changes.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,VelocityChange,double velocity)
+
+/**
+ * Gets the last set acceleration of a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param acceleration The acceleration.
+ */
+CHDRGETINDEX(MotorControl,Acceleration,double *acceleration)
+/**
+ * Sets the last set acceleration of a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param acceleration The acceleration.
+ */
+CHDRSETINDEX(MotorControl,Acceleration,double acceleration)
+/**
+ * Gets the maximum acceleration supported by a motor
+ * @param phid An attached phidget motor control handle
+ * @param index The motor index.
+ * @param max The maximum acceleration.
+ */
+CHDRGETINDEX(MotorControl,AccelerationMax,double *max)
+/**
+ * Gets the minimum acceleration supported by a motor.
+ * @param phid An attached phidget motor control handle
+ * @param index The motor index.
+ * @param min The minimum acceleration
+ */
+CHDRGETINDEX(MotorControl,AccelerationMin,double *min)
+
+
+/**
+ * Gets the current current draw for a motor.
+ * @param phid An attached phidget motor control handle
+ * @param index The motor index.
+ * @param current The current.
+ */
+CHDRGETINDEX(MotorControl,Current,double *current)
+/**
+ * Sets a current change event handler. This is called when the current draw changes.
+ * @param phid An attached phidget motor control handle
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,CurrentChange,double current)
+
+/**
+ * Gets the number of digital inputs supported by this board.
+ * @param phid An attached phidget motor control handle.
+ * @param count The ditial input count.
+ */
+CHDRGET(MotorControl,InputCount,int *count)
+/**
+ * Gets the state of a digital input.
+ * @param phid An attached phidget motor control handle.
+ * @param index The input index.
+ * @param inputState The input state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRGETINDEX(MotorControl,InputState,int *inputState)
+/**
+ * Set a digital input change handler. This is called when a digital input changes.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,InputChange,int inputState)
+
+/**
+ * Gets the number of encoder inputs supported by this board.
+ * @param phid An attached phidget motor control handle.
+ * @param count The encoder input count.
+ */
+CHDRGET(MotorControl,EncoderCount,int *count)
+/**
+ * Gets the position of an encoder. This position starts at 0 every time the phidget is opened.
+ * @param phid An attached phidget motor control handle.
+ * @param index The encoder index.
+ * @param position The encoder position.
+ */
+CHDRGETINDEX(MotorControl,EncoderPosition,int *position)
+/**
+ * Sets the encoder position. This can be used to set the position to a known value, and should only be called when the encoder is not moving.
+ * @param phid An attached phidget motor control handle.
+ * @param index The encoder index.
+ * @param position The encoder position.
+ */
+CHDRSETINDEX(MotorControl,EncoderPosition,int position)
+/**
+ * Set an encoder position change handler. This is called when the encoder position changes.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,EncoderPositionChange,int time,int positionChange)
+/**
+ * Set an encoder position update handler. This is called at a constant rate; every 8ms, whether the encoder position has changed or not.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,EncoderPositionUpdate,int positionChange)
+
+/**
+ * Gets the Back EMF sensing state for a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param bEMFState The back EMF sensing state.
+ */
+CHDRGETINDEX(MotorControl,BackEMFSensingState,int *bEMFState)
+/**
+ * Sets the Back EMF sensing state for a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param bEMFState The back EMF sensing state.
+ */
+CHDRSETINDEX(MotorControl,BackEMFSensingState,int bEMFState)
+/**
+ * Gets the Back EMF voltage for a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param voltage The back EMF voltage, in volts.
+ */
+CHDRGETINDEX(MotorControl,BackEMF,double *voltage)
+/**
+ * Set a back EMF update handler. This is called at a constant rate; every 16ms, when back EMF sensing is enabled for that motor.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,BackEMFUpdate,double voltage)
+
+/**
+ * Gets the Supply voltage for the motors. This could be higher then the actual supply voltage.
+ * @param phid An attached phidget motor control handle.
+ * @param supplyVoltage The supply voltage, in volts.
+ */
+CHDRGET(MotorControl,SupplyVoltage,double *supplyVoltage)
+
+/**
+ * Gets the Braking value for a motor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param braking The braking value, in percent.
+ */
+CHDRGETINDEX(MotorControl,Braking,double *braking)
+/**
+ * Sets the Braking value for a motor. This is applied when velocity is 0. Default is 0%.
+ * @param phid An attached phidget motor control handle.
+ * @param index The motor index.
+ * @param braking The braking value, in percent.
+ */
+CHDRSETINDEX(MotorControl,Braking,double braking)
+
+/**
+ * Gets the number of sensor inputs supported by this board.
+ * @param phid An attached phidget motor control handle.
+ * @param count The sensor input count.
+ */
+CHDRGET(MotorControl, SensorCount, int *count)
+/**
+ * Gets the value of a sensor.
+ * @param phid An attached phidget motor control handle.
+ * @param index The sensor index.
+ * @param sensorValue The sensor value, range: 0-1000.
+ */
+CHDRGETINDEX(MotorControl, SensorValue, int *sensorValue)
+/**
+ * Gets the raw value of a sensor (12-bit).
+ * @param phid An attached phidget motor control handle.
+ * @param index The sensor index.
+ * @param sensorRawValue The sensor value, range: 0-4096.
+ */
+CHDRGETINDEX(MotorControl, SensorRawValue, int *sensorRawValue)
+/**
+ * Set a sensor update handler. This is called at a constant rate; every 8ms.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl, SensorUpdate, int sensorValue)
+/**
+ * Gets the ratiometric state.
+ * @param phid An attached phidget motor control handle.
+ * @param ratiometric The ratiometric state.
+ */
+CHDRGET(MotorControl, Ratiometric, int *ratiometric)
+/**
+ * Sets the ratiometric state. This control the voltage reference used for sampling the analog sensors.
+ * @param phid An attached phidget motor control handle.
+ * @param ratiometric The ratiometric state.
+ */
+CHDRSET(MotorControl, Ratiometric, int ratiometric)
+
+/**
+ * Set a current update handler. This is called at a constant rate; every 8ms.
+ * @param phid An attached phidget motor control handle.
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(MotorControl,CurrentUpdate,double current)
+
+#ifndef REMOVE_DEPRECATED
+DEP_CHDRGET("Deprecated - use CPhidgetMotorControl_getMotorCount",MotorControl,NumMotors,int *)
+DEP_CHDRGET("Deprecated - use CPhidgetMotorControl_getInputCount",MotorControl,NumInputs,int *)
+DEP_CHDRGETINDEX("Deprecated - use CPhidgetMotorControl_getVelocity",MotorControl,MotorSpeed,double *)
+DEP_CHDRSETINDEX("Deprecated - use CPhidgetMotorControl_setVelocity",MotorControl,MotorSpeed,double)
+DEP_CHDREVENTINDEX("Deprecated - use CPhidgetMotorControl_set_OnVelocityChange_Handler",MotorControl,MotorChange,double motorSpeed)
+#endif
+
+#ifndef EXTERNALPROTO
+#define MOTORCONTROL_MAXMOTORS 2
+#define MOTORCONTROL_MAXINPUTS 4
+#define MOTORCONTROL_MAXENCODERS 1
+#define MOTORCONTROL_MAXSENSORS 2
+
+#define MOTORCONTROL_ERRORFLAG_OVERTEMP				0x0001
+#define MOTORCONTROL_ERRORFLAG_UNDERVOLTAGE_LOCKOUT	0x0002
+#define MOTORCONTROL_ERRORFLAG_NOPOWER				0x0004
+#define MOTORCONTROL_ERRORFLAG_LOWPOWER				0x0008
+#define MOTORCONTROL_ERRORFLAG_HIGHPOWER			0x0010
+#define MOTORCONTROL_ERRORFLAG_DANGERPOWER			0x0020
+
+struct _CPhidgetMotorControl {
+	CPhidget phid;
+   
+	int (CCONV *fptrVelocityChange)(CPhidgetMotorControlHandle, void *, int, double);               
+	int (CCONV *fptrInputChange)(CPhidgetMotorControlHandle, void *, int, int);     
+	int (CCONV *fptrCurrentChange)(CPhidgetMotorControlHandle, void *, int, double);
+	int (CCONV *fptrEncoderPositionChange)(CPhidgetMotorControlHandle, void *, int, int, int);
+	int (CCONV *fptrEncoderPositionUpdate)(CPhidgetMotorControlHandle, void *, int, int);
+	int (CCONV *fptrBackEMFUpdate)(CPhidgetMotorControlHandle, void *, int, double);       
+	int (CCONV *fptrSensorUpdate)(CPhidgetMotorControlHandle, void *, int, int);    
+	int (CCONV *fptrCurrentUpdate)(CPhidgetMotorControlHandle, void *, int, double);   
+
+	void *fptrInputChangeptr;
+	void *fptrVelocityChangeptr;
+	void *fptrCurrentChangeptr;
+	void *fptrEncoderPositionChangeptr;
+	void *fptrEncoderPositionUpdateptr;
+	void *fptrBackEMFUpdateptr;
+	void *fptrSensorUpdateptr;
+	void *fptrCurrentUpdateptr;
+
+	//Deprecated
+	int (CCONV *fptrMotorChange)(CPhidgetMotorControlHandle, void *, int, double);   
+	void *fptrMotorChangeptr;
+
+	//Returned from the device
+	unsigned char inputState[MOTORCONTROL_MAXINPUTS];
+	double motorSpeedEcho[MOTORCONTROL_MAXMOTORS];
+	double motorSensedCurrent[MOTORCONTROL_MAXMOTORS];
+	double motorSensedBackEMF[MOTORCONTROL_MAXMOTORS];
+	unsigned char backEMFSensingStateEcho[MOTORCONTROL_MAXMOTORS];
+	double motorSetSpeedEcho[MOTORCONTROL_MAXMOTORS];
+	double motorAccelerationEcho[MOTORCONTROL_MAXMOTORS];
+	double motorBrakingEcho[MOTORCONTROL_MAXMOTORS];
+	double supplyVoltage;
+	int encoderPositionEcho[MOTORCONTROL_MAXENCODERS];
+	int encoderTimeStamp[MOTORCONTROL_MAXENCODERS];
+	unsigned char ratiometricEcho;
+	int sensorRawValue[MOTORCONTROL_MAXSENSORS];
+	int sensorValue[MOTORCONTROL_MAXSENSORS];
+
+	int lastPacketCount;
+
+	//Local set data
+	double motorSpeed[MOTORCONTROL_MAXMOTORS];
+	double motorAcceleration[MOTORCONTROL_MAXMOTORS];
+	unsigned char backEMFSensingState[MOTORCONTROL_MAXMOTORS];
+	double motorBraking[MOTORCONTROL_MAXMOTORS];
+	unsigned char ratiometric;
+
+	int encoderPositionDelta[MOTORCONTROL_MAXENCODERS];
+	unsigned short motorErrors[MOTORCONTROL_MAXMOTORS];
+
+	//Constants
+	double accelerationMax, accelerationMin;
+
+	//for Webservice
+	double lastVoltage;
+	int encoderPositionUpdates[MOTORCONTROL_MAXENCODERS];
+
+	unsigned char outputPacket[8];
+	unsigned int outputPacketLen;
+} typedef CPhidgetMotorControlInfo;
+#endif
+
+/** @} */
+
+#endif