Manual

Copyright © Dr Robot Inc. 2008
25
94 void DcMotorVelocityTimeCtr(short channel, short cmdValue, short timePeriods);
Description:
DcMotorVelocityTimeCtr sends the velocity control command to the specified motion
control channel on the Sensing and Motion Controller (PMS5005). The command includes
the target velocity and the time period to execute the command. The current trajectory
planning method for time control is linear.
Syntax: DcMotorVelocityTimeCtr (channel, cmdValue, timePeriod);
Parameter: short channel; // 0, 1, 2, 3, 4, or 5
short cmdValue; // Target velocity value
short timePeriod; // Executing time in milliseconds
Return value: void
Remarks:
1. Motor will be enabled automatically by the system when this command is received
2. No velocity is available for motor channel using single potentiometer sensor
3. The unit of the velocity is (Position change in A/D sampling data) / second when
using dual potentiometer sensor for rotational position measurement and pulse/
second when using quadrature encoder.
4. Please refer to the description of GetSensorPot for data conversion between
angular values and the A/D sampling data values.
See also: GetSensorPot
95 void DcMotorVelocityNonTimeCtr(short channel, short cmdValue);
Description:
DcMotorVelocityNonTimeCtr sends the velocity control command to the specified motion
control channel on the Sensing and Motion Controller (PMS5005). The command includes
the target velocity but no time period specified to execute the command. The motion
controller will drive the motor to achieve the target velocity with maximum effort.
Syntax: DcMotorVelocityNonTimeCtr (channel, cmdValue);
Parameter: short channel; // 0, 1, 2, 3, 4, or 5
short cmdValue; // Target velocity value
Return value: void
Remarks:
1. Motor will be enabled automatically by the system when this command is received
2. No velocity is available for motor channel using single potentiometer sensor