Definition:

#include <aMotion.tea>




void aMotion_SetRampTarget(

char channel, int posH, int posL);

Parameters:

channel	-	Motion control channel.
posH	-	Most significant 2 bytes of 4-byte travel distance.
posL	-	Least significant 2 bytes of 4-byte travel distance.

Return Value:

This routine does not return a value.

Description:

This routine sets the ramp travel distance for a motion control channel.  The distance is a four-byte term and must be broken up into 2 integers.  See the cmdMO_RMPCFG documentation for details on configuring a ramp motion for motion control channel.

Example:

#include <aMotion.tea>

aMotion_SetRampTarget(0, 0x0002, 0x03F0);
aMotion_SetRampTarget(1, 0x0002, 0x03F0);


This would set the travel distance to 0x000203F0 for both wheels on a 2-wheel drive robot.  This is equivalent to 132,080 encoder ticks.  The actual distance depends on the drive train of the robot.

#include <aMotion.tea>

aMotion_SetRampTarget(0, 0, 500);
aMotion_SetRampTarget(1,-1,-500);


This would set the travel distance to 500 for motor 0 and -500 for motor 1.  This would make a 2-wheel drive robot rotate until it counted 500 encoder ticks.

Related:

aMotion_GetFlags, aMotion_GetMode, aMotion_GetParameter, aMotion_SetMode