Definition:

#include <aMotion.h>
object code: aMotion.c



aErr aMotion_GetPIDInput(

aStemLib stemRef, const unsigned char module, const unsigned char channel, short* pValue);

Parameters:

stemRef	-	An opaque library reference representing the aStem library which manages the communication with the BrainStem modules.
module	-	The IIC address of the Moto module that will return the 32-bit encoder setting for one of its motion control channels.  This need not be the router.
channel	-	The index of the motion control channel.
pValue	-	Address of a short where the PID input value will be stored.

Return Value:

This routine returns aErrNone when there are no errors.

Description:

This routine manages the BrainStem packets needed to request the 2-byte short input value associated with a motion control channel and receive the reply.

Thanks to Jerry Tietz for contributing the code for this routine!

Example:

/* the storage for our value, initialized to zero */ short inputValue = 0; {   aErr e;   /* get the module 4, channel 0 encoder data */   e = aMotion_GetPIDInput(stemLibRef, 4, 0, &inputValue);   if (e == aErrNone) {     /* now, encoderValue is filled, provided there was no error */   } }

Related:

aStem_GetLibRef, aStem_ReleaseLibRef, cmdMO_PEEK