Hardware manual
44
pxmc_state_t *pxmc_main_arr[] = {&mcsLeft};
pxmc_state_list_t pxmc_main_list = {
pxml_arr:pxmc_main_arr,
pxml_cnt:(sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0]))
};
was defined as pxmc_state_t.
5.3.4. PXMC_BASE.H
functionality of the PXMC library. According to this, we have here such functions like:
Name of pole
Short description
pxmc_set_const_out
It sets a power to given value and keeps it constant. It is used for
feed forward control.
pxmc_connect_controller_
prep*
It prepares axis (motor) to a connection of a controller.
pxmc_connect_controller
It connects a motor and a controller.
pxmc_set_gen_prep
It prepares the motor to a new generator.
pxmc_set_gen_smth
It smoothly changes the generator to a new one.
pxmc_go
It moves the motor to a new given position. The movement has
trapezoidal profile.
pxmc_go_spdfg
It moves the motor to a new given position with selected speed.
As above, the movement has trapezoidal profile.
pxmc_stop
It stops the motor and this stop is done by a smooth slow down.
pxmc_spd
It starts a constant speed motion.
pxmc_spdfg
A/a but in this case it has fine-grained characteristic.
pxmc_axis_set_pos
It allows setting new value for actual position for the motor.
* - function is not accessible from outside of the library
5.3.5. PXMC_CON_PID.C
This file defines only one function: pxmc_pid_con. This is an implementation of PID
controller which should calculate power (pxms_ene). This last value should be later taken
into account when we set the PWM output.