x_gmotioncomplete.cpp

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#include "x_examples.h"
 
int x_gmotioncomplete(GCon g)
{
  cout << "\n************************************************************************\n";
  cout << "Example GMotionComplete() usage\n";
  cout << "************************************************************************\n";
  
  char buf[1024]; //traffic buffer
  char* trimmed; //trimmed string pointer
 
  x_e(GCmd(g, "ST")); //stop all motion and programs
 
  //-------------------------------------------------------------------------
  // Independent motion
  x_e(GCmd(g, "DP 0")); //define A position zero
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "\nPosition: " << trimmed << '\n';
  x_e(GCmd(g, "SP 4000")); //set up speed
  x_e(GCmd(g, "AC 1280000")); //acceleration
  x_e(GCmd(g, "DC 1280000")); //deceleration
  x_e(GCmd(g, "PR 8000")); //Postion Relative.
  x_e(GCmd(g, "SH A")); //Servo Here
  cout << "Beginning independent motion... ";
  x_e(GCmd(g, "BG A")); //Begin motion
  x_e(GMotionComplete(g, "A")); //Block until motion is complete on axis A
  cout << "Motion Complete on A\n";
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "Position: " << trimmed << '\n';;
 
  //-------------------------------------------------------------------------
  // Vector motion
  x_e(GCmd(g, "DP 0")); //define position zero on A
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "\nPosition: " << trimmed << '\n';;
  x_e(GCmd(g, "VS 2000"));  //set up vector speed, S plane
  x_e(GCmd(g, "VA 100000")); //vector Acceleration
  x_e(GCmd(g, "VD 100000")); //vector deceleration
  x_e(GCmd(g, "VM AN")); //invoke vector mode, use virtual axis for 1-axis controllers
  x_e(GCmd(g, "VP 3000, 3000")); //buffer Vector Position
  x_e(GCmd(g, "VP 6000,0")); //buffer Vector Position
  x_e(GCmd(g, "VE")); //indicate Vector End
  cout << "Beginning vector motion... ";
  x_e(GCmd(g, "BG S")); //begin S plane
  x_e(GMotionComplete(g, "S")); //Block until motion is complete on vector plane S
  cout << "Motion Complete on vector plane S\n";
  x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
  cout << "Position: " << trimmed << '\n';;
 
  return GALIL_EXAMPLE_OK;
}