/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ /* */ /* file: xxxxxxxx.c */ /* */ /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ /* */ /* description: Simple program to demonstrate using the BrainStem */ /* Moto using the C libraries. */ /* */ /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ /* */ /* Copyright 1994-2007. Acroname Inc. */ /* */ /* This software is the property of Acroname Inc. Any */ /* distribution, sale, transmission, or re-use of this code is */ /* strictly forbidden except with permission from Acroname Inc. */ /* */ /* To the full extent allowed by law, Acroname Inc. also excludes */ /* for itself and its suppliers any liability, wheither based in */ /* contract or tort (including negligence), for direct, */ /* incidental, consequential, indirect, special, or punitive */ /* damages of any kind, or for loss of revenue or profits, loss of */ /* business, loss of information or data, or other financial loss */ /* arising out of or in connection with this software, even if */ /* Acroname Inc. has been advised of the possibility of such */ /* damages. */ /* */ /* Acroname Inc. */ /* www.acroname.com */ /* 720-564-0373 */ /* */ /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ #include "aStem.h" /* stem library header */ #include "aMotion.h" /* motion control library */ #include "stdlib.h" /* define which BrainStem module and servo we are talking to and * how. In this case, we assume a GP 1.0 module */ #define aMODULE 4 #define aCHANNEL 0 /* the portname below will depend entirely on your computer's */ /* serial port configuration. We use the command */ /* ls /dev/tty.* */ /* to learn what the name of the serial adapter is on our machines */ /* Note: This value will change if you plug the adapter in other */ /* USB ports, depending on your adapter type. */ #define aPORTNAME "tty.usbserial-A1000ivx" #define aPORTSPEED 9600 /* Program specific macros */ #define LOOPDELAY 250 #define SETMAX 200 #define SETINC 10 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ /* the main (and only) routine */ int main(int argc, char* argv[]) { aErr error = aErrNone; aIOLib ioLib; aStemLib stemLib; aStreamRef linkStream; short setpoint = 0; short pidval = 0; printf("Running the motor example.\n"); /* Get the references to the aIO and aStem library objects. */ if (error == aErrNone) aIO_GetLibRef(&ioLib, &error); if (error == aErrNone) aStem_GetLibRef(&stemLib, &error); /* Build a link stream to communicate serially with the stem. */ if (error == aErrNone) aStream_CreateSerial(ioLib, aPORTNAME, aPORTSPEED, &linkStream, &error); /* Set this new stream as the stem's link stream. This stream * will automatically be destroyed when the stem is destroyed. */ if (error == aErrNone) aStem_SetStream(stemLib, linkStream, kStemModuleStream, &error); /* Configure the Moto settings * These steps can be skipped if you want to manually change the * settings of the Moto through the Moto Application and save the * settings to the EEPROM. The next few commands only demonstrate * ways to manipulate the values using the C libraries. * * See the aMotionDef.tea file found in the aSystem folder for a * list of macros that can be used to define most setting values. * * If there was an error earlier, then we shouldn't even bother * trying to change the settings. */ if (error == aErrNone) { /* We want to try out the pwm only mode */ error = aMotion_SetMode(stemLib, aMODULE, aCHANNEL, aMOTION_MODE_ENCVEL, 0); /* Set the PID P term. The values for this are stored on the Moto * in fixed point notations. The resolution step size for the term * is in increments of 0.031. Therefore, setting the value to 32 * would set the term to 0.031 X 32 = 0.99199 (aka 1.00). */ error = aMotion_SetParam(stemLib, aMODULE, aCHANNEL, aMOTION_PARAM_P, 32); /* Set the PID I term. See the note above about the P term. */ error = aMotion_SetParam(stemLib, aMODULE, aCHANNEL, aMOTION_PARAM_I, 0); /* Set the Period value. The increment value that can be stored is * in 0.1msec increments. Depending on the Moto firmware, the lowest * possible value is 1msec, which is a value of 10. */ printf("Setting the Period Parameter.\n"); error = aMotion_SetParam(stemLib, aMODULE, aCHANNEL, aMOTION_PARAM_PERIOD, 20); } // End of changing the Moto settings /* Begin spinning the motor. * * If there was an error earlier getting started, then there is no * point in trying to spin a motor. */ if (error == aErrNone) { /* Slowly increment the setpoint */ for (setpoint = 0; setpoint < SETMAX; setpoint = setpoint + SETINC) { printf("Setting the Setpoint value to %d\n",setpoint); error = aMotion_SetValue(stemLib, aMODULE, aCHANNEL, setpoint); /* Check to see if the setpoint is zero. We don't want to try and * chase this as a PID error. The motor should be stopped. */ if (setpoint > 0) { do { error = aMotion_GetPIDInput(stemLib, aMODULE, aCHANNEL, &pidval); printf("\tPID Return val is: %d Setpoint: %d\n", pidval, abs((pidval - setpoint))); } while (abs((pidval - setpoint)) > 2); } /* Delay a little bit */ aIO_MSSleep(ioLib, LOOPDELAY, NULL); } /* Slowly bring the setpoint back down to a stop */ for (setpoint = setpoint; setpoint >= 0; setpoint = setpoint - SETINC) { printf("Setting the Setpoint value to %d\n",setpoint); error = aMotion_SetValue(stemLib, aMODULE, aCHANNEL, setpoint); /* Check to see if the setpoint is zero. We don't want to try and * chase this as a PID error. The motor should be stopped. */ if (setpoint > 0) { do { error = aMotion_GetPIDInput(stemLib, aMODULE, aCHANNEL, &pidval); printf("\tPID Return val is: %d Setpoint: %d\n", pidval, abs((pidval - setpoint))); } while (abs((pidval - setpoint)) > 2); } /* Delay a little bit */ aIO_MSSleep(ioLib, LOOPDELAY, NULL); } } /* release the libraries now that we are done whether there * were errors or not */ aStem_ReleaseLibRef(stemLib, NULL); aIO_ReleaseLibRef(ioLib, NULL); return error; } /* main */