Galil DMC-4040, User Manual

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Example: Working with Arrays
#Array
DM speeds[8]
DM other[256]
JS #zeroAry ( "speeds" ,0) ;'zero out all buckets in speeds[]
JS #zeroAry ( "other" ,0) ;'zero out all buckers in other[]
EN
'
#zeroAry ;NO(array ^a, ^b) zeros array starting at index ^b
^a[^b]=0
^b=^b+1
JP #zeroAry ,(^b<^a[-1]) ;'[-1] returns the length of an array
EN
Example: Abstracting Axes
#Axes
JS #runMove (0,10000,1000,100000,100000)
MG "Position:" , _JS
EN
'
#runMove ;NO(axis ^a, PR ^b, SP ^c, AC ^d, DC ^e) Profile movement for axis
~a=^a ;'~a is global, so use carefully in subroutines
'try one variable axis a-h for each thread A-H
PR ~a=^b
SP ~a=^c
AC ~a=^d
DC ~a=^e
BG ~a
MC ~a
EN ,, _TP ~a
Example: Local Scope
#Local
JS #POWER (2,2)
MG _JS
JS #POWER (2,16)
MG _JS
JS #POWER (2,-8)
MG _JS
'
#POWER ;NO(base ^a,exponent^b) Returns base^exponent power. +/- integer only
^c=1 ;'unpassed variable space (^c-^h) can be used as local scope variables
IF ^b=0 ;'special case, exponent = 0
EN ,,1
ENDIF
IF
^b<0 ;'special case, exponent < 0, invert result
^d=1
^b=
@ABS [^b]
ELSE
^d=0
DMC-40x0 User Manual Chapter 7 Application Programming
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