pedal_monitor: cphidgetstepper.h Source File

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00001 #ifndef __CPHIDGETSTEPPER
00002 #define __CPHIDGETSTEPPER
00003 #include "cphidget.h"
00004 
00011 DPHANDLE(Stepper)
00012 CHDRSTANDARD(Stepper)
00013 
00014 
00020 CHDRGET(Stepper,InputCount,int *count)
00027 CHDRGETINDEX(Stepper,InputState,int *inputState)
00034 CHDREVENTINDEX(Stepper,InputChange,int inputState)
00035 
00041 CHDRGET(Stepper,MotorCount,int *count)
00042 
00049 CHDRGETINDEX(Stepper,Acceleration,double *acceleration)
00056 CHDRSETINDEX(Stepper,Acceleration,double acceleration)
00063 CHDRGETINDEX(Stepper,AccelerationMax,double *max)
00070 CHDRGETINDEX(Stepper,AccelerationMin,double *min)
00071 
00078 CHDRGETINDEX(Stepper,VelocityLimit,double *limit)
00085 CHDRSETINDEX(Stepper,VelocityLimit,double limit)
00092 CHDRGETINDEX(Stepper,Velocity,double *velocity)
00099 CHDRGETINDEX(Stepper,VelocityMax,double *max)
00106 CHDRGETINDEX(Stepper,VelocityMin,double *min)
00113 CHDREVENTINDEX(Stepper,VelocityChange,double velocity)
00114 
00121 CHDRGETINDEX(Stepper,TargetPosition,__int64 *position)
00128 CHDRSETINDEX(Stepper,TargetPosition,__int64 position)
00135 CHDRGETINDEX(Stepper,CurrentPosition,__int64 *position)
00142 CHDRSETINDEX(Stepper,CurrentPosition,__int64 position)
00149 CHDRGETINDEX(Stepper,PositionMax,__int64 *max)
00156 CHDRGETINDEX(Stepper,PositionMin,__int64 *min)
00163 CHDREVENTINDEX(Stepper,PositionChange,__int64 position)
00164 
00171 CHDRGETINDEX(Stepper,CurrentLimit,double *limit)
00178 CHDRSETINDEX(Stepper,CurrentLimit,double limit)
00185 CHDRGETINDEX(Stepper,Current,double *current)
00192 CHDRGETINDEX(Stepper,CurrentMax,double *max)
00199 CHDRGETINDEX(Stepper,CurrentMin,double *min)
00206 CHDREVENTINDEX(Stepper,CurrentChange,double current)
00207 
00214 CHDRGETINDEX(Stepper,Engaged,int *engagedState)
00221 CHDRSETINDEX(Stepper,Engaged,int engagedState)
00228 CHDRGETINDEX(Stepper,Stopped,int *stoppedState)
00229 
00230 #ifndef EXTERNALPROTO
00231 
00232 #define STEPPER_MAXSTEPPERS 8
00233 #define STEPPER_MAXINPUTS 8
00234 
00235 #define BIPOLAR_STEPPER_CURRENT_SENSE_GAIN 8.5
00236 #define BIPOLAR_STEPPER_CURRENT_LIMIT_Rs 0.150
00237 
00238 //flags - make sure these are in the upper 4 bits
00239 #define MOTOR_DONE_STEPPER              0x10
00240 #define MOTOR_DISABLED_STEPPER  0x20
00241 
00242 //packet types - room for one more
00243 #define STEPPER_POSITION_PACKET         0x00
00244 #define STEPPER_VEL_ACCEL_PACKET        0x10
00245 #define STEPPER_RESET_PACKET            0x20
00246 
00247 struct _CPhidgetStepper{
00248         CPhidget phid;
00249           
00250         int (CCONV *fptrPositionChange)(CPhidgetStepperHandle, void *, int, __int64);       
00251         int (CCONV *fptrPositionChange32)(CPhidgetStepperHandle, void *, int, int);    
00252         int (CCONV *fptrVelocityChange)(CPhidgetStepperHandle, void *, int, double);                   
00253         int (CCONV *fptrCurrentChange)(CPhidgetStepperHandle, void *, int, double);       
00254         int (CCONV *fptrInputChange)(CPhidgetStepperHandle, void *, int, int);           
00255 
00256         void *fptrPositionChangeptr;
00257         void *fptrPositionChange32ptr;
00258         void *fptrInputChangeptr;
00259         void *fptrCurrentChangeptr;
00260         void *fptrVelocityChangeptr;
00261 
00262         //data from the device
00263         unsigned char inputState[STEPPER_MAXINPUTS];
00264         __int64 motorPositionEcho[STEPPER_MAXSTEPPERS];
00265         double motorSpeedEcho[STEPPER_MAXSTEPPERS];
00266         double motorSensedCurrent[STEPPER_MAXSTEPPERS];
00267         unsigned char motorEngagedStateEcho[STEPPER_MAXSTEPPERS];
00268         unsigned char motorStoppedState[STEPPER_MAXSTEPPERS];
00269         int packetCounterEcho[STEPPER_MAXSTEPPERS];
00270 
00271         //data from the user
00272         __int64 motorPosition[STEPPER_MAXSTEPPERS];
00273         __int64 motorPositionReset[STEPPER_MAXSTEPPERS];
00274         double motorAcceleration[STEPPER_MAXSTEPPERS];
00275         double motorSpeed[STEPPER_MAXSTEPPERS];
00276         double motorCurrentLimit[STEPPER_MAXSTEPPERS];
00277         unsigned char motorEngagedState[STEPPER_MAXSTEPPERS];
00278         int packetCounter[STEPPER_MAXSTEPPERS];
00279         
00280         double motorSpeedMax, motorSpeedMin;
00281         double accelerationMax, accelerationMin;
00282         __int64 motorPositionMax, motorPositionMin;
00283         double currentMax, currentMin;
00284         int microSteps;
00285 
00286         unsigned char outputPacket[MAX_OUT_PACKET_SIZE];
00287         unsigned int outputPacketLen;
00288 } typedef CPhidgetStepperInfo;
00289 #endif
00290 
00293 #endif
00294