position_tracking.cs

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using System;
 
namespace examples
{
    public static partial class Examples
    {
 
        public static int Position_Tracking(gclib gclib, int speed)
        {
            int acc = 100 * speed; // Set acceleration/deceleration to 100 times speed
 
            gclib.GCommand("STA");      // Stop motor
            gclib.GMotionComplete("A"); // Wait for motion to complete
            gclib.GCommand("SHA");      // Set servo here
            gclib.GCommand("DPA=0");    // Start position at absolute zero
            gclib.GCommand("PTA=1");    // Start position tracking mode on A axis
 
            gclib.GCommand("SPA=" + speed); // Set speed            
            gclib.GCommand("ACA=" + acc); // Set acceleration            
            gclib.GCommand("DCA=" + acc); // Set deceleration
 
            Console.WriteLine("Begin Position Tracking with speed " + speed +
                                ". Enter a non-number to exit.\n");
            int position;
 
            //Loop asking user for new position.  End loop when user enters a non-number
            while (true)
            {
                Console.WriteLine("Enter a new position:");
                bool ok = int.TryParse(Console.ReadLine(), out position);
 
                if (ok) //A valid position was provided
                {
                    gclib.GCommand("PAA=" + position); // Go to new position
                }
                else //A non-number was entered
                {
                    Console.WriteLine("Position Tracking has exited");
                    break;
                }
            }
 
            gclib.GCommand("STA"); //stop motor
            gclib.GMotionComplete("A"); //Wait for motion to complete
 
            return GALIL_EXAMPLE_OK;
        }
    }
}