96 lines
3.4 KiB
C
96 lines
3.4 KiB
C
//=============================================================================
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// Demo program "Extended motor control mode on Extension 1".
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//
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// Can be run under control of the ROBO TX Controller
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// firmware in download (local) mode.
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// Continuously starts a motor with changing rotation directions.
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// Motor is connected to outputs M1. Pulses from the motor are
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// calculated by the counter C1. The motor is stopped and rotation
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// direction is changed after the counter reaches the value of 200.
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//
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// Disclaimer - Exclusion of Liability
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//
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// This software is distributed in the hope that it will be useful, but WITHOUT
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// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE. It can be used and modified by anyone
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// free of any license obligations or authoring rights.
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//=============================================================================
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#include "ROBO_TX_PRG.h"
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#define TA_IDX TA_EXT_1
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#define MOTOR_NUMBER 1
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#define MOTOR_IDX (MOTOR_NUMBER - 1)
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static BOOL32 rotation_direction;
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static BOOL32 prev_rotation_direction;
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/*-----------------------------------------------------------------------------
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* Function Name : PrgInit
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*
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* This it the program initialization.
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* It is called once.
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*-----------------------------------------------------------------------------*/
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void PrgInit
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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TA * p_ta = &p_ta_array[TA_IDX];
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// Configure motor output to be used as a motor output
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p_ta->config.motor[MOTOR_IDX] = TRUE;
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// Inform firmware that configuration was changed
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p_ta->state.config_id += 1;
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rotation_direction = FALSE;
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prev_rotation_direction = !rotation_direction;
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}
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/*-----------------------------------------------------------------------------
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* Function Name : PrgTic
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*
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* This is the main function of this program.
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* It is called every tic (1 ms) realtime.
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*-----------------------------------------------------------------------------*/
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int PrgTic
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
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// 0 - program should be normally stopped by the firmware;
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// any other value is considered by the firmware as an error code
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// and the program is stopped.
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TA * p_ta = &p_ta_array[TA_IDX];
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if (rotation_direction != prev_rotation_direction)
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{
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// Set motor duty depending on rotation_direction
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p_ta->output.duty[2 * MOTOR_IDX + 0] = (rotation_direction) ? DUTY_MAX : 0;
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p_ta->output.duty[2 * MOTOR_IDX + 1] = (rotation_direction) ? 0 : DUTY_MAX;
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// Motor should run until counter reaches 200
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p_ta->output.distance[MOTOR_IDX] = 200;
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p_ta->input.motor_pos_reached[MOTOR_IDX] = FALSE;
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// Start extended motor control command
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p_ta->output.motor_ex_cmd_id[MOTOR_IDX]++;
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prev_rotation_direction = rotation_direction;
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}
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if (p_ta->input.motor_pos_reached[MOTOR_IDX])
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{
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rotation_direction = !rotation_direction;
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}
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return rc;
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}
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