New Micros NMIY-0031, Руководство пользователя

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2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 3 7
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
abs_move()
{
int data_in;
trajec2 = 0x00; trajec1 = 0x2A;
accel4 = 0x00; accel3 = 0x01; accel2 = 0x00; accel1 = 0x00;
veloc4 = 0x00; veloc3 = 0x20; veloc2 = 0x00; veloc1 = 0x00;
printf("\nEnter a Position value: ");
scanf("%d", &data_in);
posit4 = 0x00; posit3 = 0x00;
posit2 = data_in>>8; posit1 = data_in - (posit2<<8);
load_traj();
} /* end absolute move */
disp_setup()
{
unsigned char dummy;
printf("\n\n filter control word %x %x", trajec2, trajec1);
printf("\n\n Kp %x %x Ki %x %x", kp2, kp1, ki2, ki1);
printf("\ Kd %x %x Il %x %x", kd2, kd1, il2, il1);
printf("\n\n trajectory control word %x %x", trajec2, trajec1);
printf("\n\n acceleration %x %x %x %x", accel4, accel3, accel2, accel1);
printf(" velocity %x %x %x %x", veloc4, veloc3, veloc2, veloc1);
printf(" position %x %x %x %x", posit4, posit3, posit2, posit1);
printf("\n\nEnter a letter to continue.\n");
scanf("%d", &dummy); /* wait for input */
} /* end display setup */
filter_menu()
{
int data_in;
filter2 = 0x00; filter1 = 0x0F;
printf("\nEnter a Kp value(0-65535): ");
scanf("%d", &data_in);
kp2 = data_in / 256;
kp1 = data_in % 256;
printf("\nEnter a Ki value(0-65535): ");
scanf("%d", &data_in);
ki2 = data_in / 256;
ki1 = data_in / 256;
printf("\nEnter a Kd value(0-65535): ");
scanf("%d", &data_in);
kd2 = data_in / 256;
kd1 = data_in % 256;
printf("\nEnter an Il value(0-65535): ");
scanf("%d", &data_in);
il2 = data_in / 256;
il1 = data_in % 256;
load_filter();
} /* end load filter menu */
get_status()
{
peekb(CMDPORT, status);
} /* end get status */