New Micros NMIY-0031, Manual

Page: 141 / 188

2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 4 1
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
r_veloc()
{
int data_in;
commnd = LTRJ; send_cmd();
dbyte2 = 0x08; dbyte1 = 0x28; send_word();
printf("\nEnter a Velocity value (0-65535): ");
scanf("%d", &data_in);
veloc4 = data_in / 256; veloc3 = data_in % 256;
veloc2 = 0x00; veloc1 = 0x00;
accel4 = 0x00; accel3 = 0x05; accel2 = 0x00; accel1 = 0x00;
dbyte2 = accel4; dbyte1 = accel3; send_word();
dbyte2 = accel2; dbyte1 = accel1; send_word();
dbyte2 = veloc4; dbyte1 = veloc3; send_word();
dbyte2 = veloc2; dbyte1 = veloc1; send_word();
commnd = STT; send_cmd();
} /* end right velocity move */
send_cmd()
{
not_busy();
pokeb(CMDPORT, commnd);
not_busy();
} /* end send command */
send_word()
{
not_busy();
pokeb(DATAPORT, dbyte2);
pokeb(DATAPORT, dbyte1);
not_busy();
} /* end send word */
traj_menu()
{
int boolean,
data_in;
trajec2 = 0x00; trajec1 = 0x2A;
printf("\nEnter a Position value(0-65535): ");
scanf("%d", &data_in);
printf("\nIs this Position absolute(1) or relative(0) ? ");
scanf("%d", &boolean);
if (boolean)
trajec1 = trajec1 & 0x01;
posit4 = 0x00;
posit3 = 0x00;
posit2 = data_in / 256;
posit1 = data_in % 256;
printf("\nEnter a Velocity value(0-65535): ");
scanf("%d", &data_in);
printf("\nIs this Velocity absolute(1) or relative(0) ? ");
scanf("%d", &boolean);
if (boolean)
trajec1 = trajec1 & 0x04;
veloc4 = data_in / 256;
veloc3 = data_in % 256;
veloc2 = 0x00;
veloc1 = 0x00;