New Micros NMIY-0031, Manual

Page: 136 / 188

2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 3 6
N M I L - 7 0 5 6 S E R V O M O T O R D R I V E R
C S A M P L E P R O G R A M
/* filter parameters vary according to the specific motor, encoder, */
/* and load combination. These values are determined by the user. */
/* */
/* A set of parameters that work for the hardware used here without */
/* significant load are programmed into this code. The Kp, Ki, Kd, */
/* and Il varaibles are the filter parameters. The accel, posit, */
/* and veloc parameters are the trajectory parameters, which define */
/* a specific motor movement. */
/* */
/**************************************************************************************/
/* */
/* This program presents a menu to the user and prompts for a user */
/* selection. Any additional data needed by a command will be */
/* be requested. After executing the user request, the menu will */
/* again be presented to the user. */
/* */
/**************************************************************************************/
main ()
{
unsigned char choice;
initialize();
while (1)
{
choice = -1;
while ((choice < 0) || (choice > 9))
{
menu();
scanf("%d", &choice);
};
switch (choice)
{
case 0 : motor_off();
abs_move();
break;
case 1 : traj_menu();
break;
case 2 : motor_off();
relat_move();
break;
case 3 : motor_off();
l_veloc();
break;
case 4 : motor_off();
r_veloc();
break;
case 5 : motor_off();
jog_l();
break;
case 6 : motor_off();
jog_r();
break;
case 7 : filter_menu();
break;
case 8 : motor_off();
break;
case 9 : disp_setup();
break;
default: break;
}; /* end switch */
}; /* end while */
} /* end main */