88 int AMS_Power(
int id,
int powa,
int powb);
107 int AMS_Step(
int id,
int stepa,
int stepb);
123 int AMS_Slope(
int id,
int slopea,
int slopeb);
139 int AMS_Speed(
int id,
int speeda,
int speedb);
155 int AMS_TrackOn(
int id,
int adir,
int bdir,
unsigned long acount,
unsigned long bcount);
217 int AMS_DoPos(
int id,
int dira,
int dirb,
unsigned long stepa,
unsigned long stepb);
235 int AMS_sendstep(
int id,
int dira,
int dirb,
unsigned long stepa,
unsigned long stepb);
305 int AMS_Home(
int id,
int mota,
int motb);
356 int AMS_Divisore(
int id,
unsigned long par1,
unsigned long par2);
char buftx[1024]
Tx buffer.
unsigned long AMS_ReadStep(int id, int motor)
read performed steps Procedure for the determination of the number of steps executed.
int AMS_sendstep(int id, int dira, int dirb, unsigned long stepa, unsigned long stepb)
Send steps Procedure for sending steps to the Stepper Motor.
int DXL_Close(void)
Close COM.
int AMS_dirfin(int id, int dira, int dirb)
Set Final Directions .
void AMS_assadd(int w)
Assign AMS address Procedure for assigment of the AMS address.
DXL structure. Structure for the serial communication with the AMS adapter.
void AMS_Default(int id)
Set default values to AMS parameters Procedure for setting the default values of power.speed, stepping and slope to the selected AMS adapter.
int AMS_TrackOff(int id, int amot, int bmot)
tracking off Procedure for Stepper Motor tracking de-activation
int AMS_Step(int id, int stepa, int stepb)
Set stepping for the Stepper motors Procedure for setting steps for the Stepper Motors.
int AMS_Divisore(int id, unsigned long par1, unsigned long par2)
int AMS_AzzeraCoord(int id, int mtr)
Set to zero the number of steps on the selected motor Set to zero the number of steps on the selecte...
int AMS_DoPos(int id, int dira, int dirb, unsigned long stepa, unsigned long stepb)
Execute Positioning Execute Stepper positioning. Make all the control on the status of the selected m...
int AMS_Power(int id, int powa, int powb)
Set Power for AMS Procedure for setting the user choosed power to the selected AMS adapter...
int AMS_Home(int id, int mota, int motb)
Home position for the selected motor the home position is reached with the standard parameters (1KHz...
char bufrx[1024]
Rx buffer.
int DXL_Open(int addr, int com, int baud)
Open COM.
int add
Peripheral address.
int AMS_Speed(int id, int speeda, int speedb)
Set speed to the Stepper motors Procedure for setting speed for the Stepper Motors.
int AMS_wopto(int id, unsigned int w)
write the value on the optoinsulated port write the value on the optoinsulated port.
int AMS_TestWork(int id, int par1)
verify the if work position has been reached
int AMS_firmrev(int id)
Firmware Revision Number .
struct DXL_par DXL_par
DXL structure. Structure for the serial communication with the AMS adapter.
int AMS_TestPos(int id, int motor)
Test positioning status Procedure for testing the positioning status of the selected motor...
void DXL_TxStr(char *tx, int len)
send string to a serial port
int DXL_RxStr(char *rx, int *len)
receive string from a serial port
int AMS_chkbitsts(int id, int bitn)
check bit status Procedure for the determination of the bit number status.
int AMS_TrackOn(int id, int adir, int bdir, unsigned long acount, unsigned long bcount)
Activate tracking Procedure for Stepper Motor tracking activation.
int AMS_HomeDefault(int id, int mota, int motb)
void AMS_PWM(int id, int on, int off)
set the on/off time on the PWM set the on/off time on the PWM.
int AMS_Slope(int id, int slopea, int slopeb)
Set slope to the Stepper motors Procedure for setting the slope fot the Stepper Motors.
int AMS_MotorOn_Off(int id, int mtr1, int mtr2)
Motor ON-OFF. Switch On-Off the selected motor of the selected AMS.
int com
Comunication port.
void AMS_PWM_Zero(int mod)
int on
PRG execution control variabile.
int AMS_TestHome(int id, int par1)
verify if the home position has been reached
