#include "stdafx.h"
#include "cphidgetadvancedservo.h"
#include "cusb.h"
#include "csocket.h"
#include "cthread.h"

Include dependency graph for cphidgetadvancedservo.c:

Functions
	CPhidget_read ((CPhidgetHandle) phid)
static int	CPhidgetAdvancedServo_makePacket (CPhidgetAdvancedServoHandle phid, unsigned char *buffer, int Index)
PHIDGET21_API int CCONV	CPhidgetAdvancedServo_setServoParameters (CPhidgetAdvancedServoHandle phid, int Index, double min_us, double max_us, double degrees, double velocity_max)
	for (i=0;i< ADVSERVO_MAXSERVOS;i++)
	for (i=0;i< phid->phid.attr.advancedservo.numMotors;i++)
int	getServoParameterIndex (CPhidget_ServoType type)
	if ()
	if (phid->packetCounter[Index]==PUNK_INT) phid->packetCounter[Index]=0 = PFALSE
	if (CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
TESTATTACHED	MASGN (phid.attr.advancedservo.numMotors)
double	servo_degrees_to_us (CPhidgetServoParameters params, double degrees)
double	servo_degrees_to_us_vel (CPhidgetServoParameters params, double degrees)
double	servo_us_to_degrees (CPhidgetServoParameters params, double us, unsigned char round)
double	servo_us_to_degrees_vel (CPhidgetServoParameters params, double us, unsigned char round)
TESTATTACHED TESTATTACHED	setupNewAdvancedServoParams (phid, Index, Phid_Servo_Types[getServoParameterIndex(newVal)])
	switch (phid->phid.deviceIDSpec)
	TESTPTR (phid)
	TESTPTRS (phid, buffer)
TESTATTACHED	TESTRANGE (servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMin, PFALSE)-0.5, servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMax, PFALSE)+0.5) new Val
TESTATTACHED	TESTRANGE (servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMin[Index], PFALSE)-0.5, servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMax[Index], PFALSE)+0.5) new Val
	while (1)
	ZEROMEM (buffer, 8)
Variables
int	accel = 0
phid	accelerationMax = PUNI_DBL
phid	accelerationMin = PUNI_DBL
unsigned char	buffer [8] = {0}
double	current [ADVSERVO_MAXSERVOS]
return	EPHIDGET_OK
char	error_buffer [128]
unsigned char	flags = 0
int	i = 0
	Index = Index & 0x07
unsigned char	justStopped [ADVSERVO_MAXSERVOS]
double	lastCurrent [ADVSERVO_MAXSERVOS]
double	lastPosition [ADVSERVO_MAXSERVOS]
double	lastVelocity [ADVSERVO_MAXSERVOS]
int	maxpwm = 0
int	minpwm = 0
unsigned char	motorDone [ADVSERVO_MAXSERVOS]
unsigned char	motorEngaged [ADVSERVO_MAXSERVOS]
phid	motorPositionMaxLimit = PUNI_DBL
phid	motorPositionMinLimit = PUNI_DBL
phid packetCounter &[Index] phid	motorStoppedState [Index] = 0x0F PFALSE
phid	outputPacketLen = 0
int	packet_type = Index & 0x10
phid	packetCounter [Index]
phid	PGoodErrState = PFALSE
CThread_mutex_lock &	phid = (CPhidgetAnalogHandle)phidG
const CPhidgetServoParameters	Phid_Servo_Types []
double	position [ADVSERVO_MAXSERVOS] = 0
TESTATTACHED *	pVal = servo_us_to_degrees_vel(phid->servoParams[Index], phid->motorAcceleration[Index], PTRUE)
int	pwm = 0
int	pwmEcho [ADVSERVO_MAXSERVOS]
int	readcount = 100
int	result = 0
int	retval = EPHIDGET_OK
unsigned char	speedRamping [ADVSERVO_MAXSERVOS]
double	velocity [ADVSERVO_MAXSERVOS] = 0
phid	velocityMaxLimit = PUNI_DBL
phid	velocityMin = PUNI_DBL

Function Documentation

CPhidget_read ( (CPhidgetHandle) phid )

static int CPhidgetAdvancedServo_makePacket	(	CPhidgetAdvancedServoHandle	phid,
		unsigned char *	buffer,
		int	Index
	)		`[static]`

PHIDGET21_API int CCONV CPhidgetAdvancedServo_setServoParameters	(	CPhidgetAdvancedServoHandle	phid,
		int	Index,
		double	min_us,
		double	max_us,
		double	degrees,
		double	velocity_max
	)

Definition at line 891 of file cphidgetadvancedservo.c.

for ( )

Definition at line 22 of file cphidgetadvancedservo.c.

for ( i = 0; i<phid->phid.attr.advancedservo.numMotors; i++ )

Definition at line 84 of file cphidgetadvancedservo.c.

if ( )

Definition at line 169 of file cphidgetadvancedservo.c.

if ( phid-> packetCounter[Index] = =PUNK_INT ) = PFALSE [pure virtual]

if ( CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG) )

Definition at line 583 of file cphidgetadvancedservo.c.

TESTATTACHED MASGN ( phid.attr.advancedservo. numMotors )

TESTATTACHED TESTATTACHED setupNewAdvancedServoParams	(	phid	,
		Index	,
		Phid_Servo_Types	[getServoParameterIndex(newVal)]
	)

switch ( phid->phid. deviceIDSpec )

Definition at line 61 of file cphidgetadvancedservo.c.

TESTPTR ( phid )

TESTPTRS	(	phid	,
		buffer
	)

TESTATTACHED TESTRANGE	(	servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMin, PFALSE)-0.	5,
		servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMax, PFALSE)+0.	5
	)		`[new]`

TESTATTACHED TESTRANGE	(	servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMin[Index], PFALSE)-0.	5,
		servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMax[Index], PFALSE)+0.	5
	)		`[new]`