Definition:

#include <aMotion.tea>




void aMotion_SetParameter(

char channel, char paramIndex, int param);

Parameters:

channel	-	Motion control channel.
paramIndex	-	Index of motion control parameter.
param	-	New parameter.

Return Value:

This routine does not return a value.

Description:

This routine sets a control constant for a motion control channel.  See the cmdMO_CFG documentation for details on configuring a motion control channel.

There are defined values for the index of each motion control parameter.

aMOTION_PARAM_MODE	0	Index for mode and flags.
aMOTION_PARAM_P	1	Index for P constant.
aMOTION_PARAM_I	2	Index for I constant.
aMOTION_PARAM_D	3	Index for D constant.
aMOTION_PARAM_COFFSET	4	Index for control input offset.
aMOTION_PARAM_PWMRAIL	5	Index for PWM rail.
aMOTION_PARAM_PERIOD	6	Index for PID loop period.
aMOTION_PARAM_LATENCY	7	Index for back-EMF latency period.
aMOTION_PARAM_PWMFREQ	8	Index for PWM frequency.

Example:

#include <aMotion.tea>

aMotion_SetParameter(0, aMOTION_PARAM_P, 120);


This would set the P constant for motion control channel 0 to 120.  Since the lower 5 bits of the P,I,D constants are fractional, this corresponds to a floating point value of 3.75.

#include <aMotion.tea>

aMotion_SetParameter(0, aMOTION_PARAM_LATENCY, 5);


This would set the back-EMF latency constant for motion control channel 0 to 5.  This is equivlent to 0.5ms.

Related:

aMotion_GetFlags, aMotion_GetMode, aMotion_GetParameter, aMotion_SetMode