Phidget Motor Control
[Specific Phidgets]

Typedefs
typedef struct _CPhidgetMotorControl *	CPhidgetMotorControlHandle
Functions
int	CPhidgetMotorControl_create (CPhidgetMotorControlHandle *phid)
int	CPhidgetMotorControl_getMotorCount (CPhidgetMotorControlHandle phid, int *count)
int	CPhidgetMotorControl_getVelocity (CPhidgetMotorControlHandle phid, int index, double *velocity)
int	CPhidgetMotorControl_setVelocity (CPhidgetMotorControlHandle phid, int index, double velocity)
int	CPhidgetMotorControl_set_OnVelocityChange_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity), void *userPtr)
int	CPhidgetMotorControl_getAcceleration (CPhidgetMotorControlHandle phid, int index, double *acceleration)
int	CPhidgetMotorControl_setAcceleration (CPhidgetMotorControlHandle phid, int index, double acceleration)
int	CPhidgetMotorControl_getAccelerationMax (CPhidgetMotorControlHandle phid, int index, double *max)
int	CPhidgetMotorControl_getAccelerationMin (CPhidgetMotorControlHandle phid, int index, double *min)
int	CPhidgetMotorControl_getCurrent (CPhidgetMotorControlHandle phid, int index, double *current)
int	CPhidgetMotorControl_set_OnCurrentChange_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current), void *userPtr)
int	CPhidgetMotorControl_getInputCount (CPhidgetMotorControlHandle phid, int *count)
int	CPhidgetMotorControl_getInputState (CPhidgetMotorControlHandle phid, int index, int *inputState)
int	CPhidgetMotorControl_set_OnInputChange_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int inputState), void *userPtr)
int	CPhidgetMotorControl_getEncoderCount (CPhidgetMotorControlHandle phid, int *count)
int	CPhidgetMotorControl_getEncoderPosition (CPhidgetMotorControlHandle phid, int index, int *position)
int	CPhidgetMotorControl_setEncoderPosition (CPhidgetMotorControlHandle phid, int index, int position)
int	CPhidgetMotorControl_set_OnEncoderPositionChange_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int positionChange), void *userPtr)
int	CPhidgetMotorControl_set_OnEncoderPositionUpdate_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int positionChange), void *userPtr)
int	CPhidgetMotorControl_getBackEMFSensingState (CPhidgetMotorControlHandle phid, int index, int *bEMFState)
int	CPhidgetMotorControl_setBackEMFSensingState (CPhidgetMotorControlHandle phid, int index, int bEMFState)
int	CPhidgetMotorControl_getBackEMF (CPhidgetMotorControlHandle phid, int index, double *voltage)
int	CPhidgetMotorControl_set_OnBackEMFUpdate_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage), void *userPtr)
int	CPhidgetMotorControl_getSupplyVoltage (CPhidgetMotorControlHandle phid, double *supplyVoltage)
int	CPhidgetMotorControl_getBraking (CPhidgetMotorControlHandle phid, int index, double *braking)
int	CPhidgetMotorControl_setBraking (CPhidgetMotorControlHandle phid, int index, double braking)
int	CPhidgetMotorControl_getSensorCount (CPhidgetMotorControlHandle phid, int *count)
int	CPhidgetMotorControl_getSensorValue (CPhidgetMotorControlHandle phid, int index, int *sensorValue)
int	CPhidgetMotorControl_getSensorRawValue (CPhidgetMotorControlHandle phid, int index, int *sensorRawValue)
int	CPhidgetMotorControl_set_OnSensorUpdate_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int sensorValue), void *userPtr)
int	CPhidgetMotorControl_getRatiometric (CPhidgetMotorControlHandle phid, int *ratiometric)
int	CPhidgetMotorControl_setRatiometric (CPhidgetMotorControlHandle phid, int ratiometric)
int	CPhidgetMotorControl_set_OnCurrentUpdate_Handler (CPhidgetMotorControlHandle phid, int(*fptr)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current), void *userPtr)

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Detailed Description

Calls specific to the Phidget Motor Control. See the product manual for more specific API details, supported functionality, units, etc.

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Typedef Documentation

typedef struct _CPhidgetMotorControl* CPhidgetMotorControlHandle

A Phidget MotorControl handle

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Function Documentation

int CPhidgetMotorControl_create

(

CPhidgetMotorControlHandle *

phid

)

Creates a Phidget MotorControl handle.

Parameters:

phid

A pointer to an unallocated Phidget MotorControl handle.

int CPhidgetMotorControl_getMotorCount	(	CPhidgetMotorControlHandle	phid,
		int *	count
	)

Gets the number of motors supported by this controller.

Parameters:

	phid	An attached phidget motor control handle.
	count	The motor count.

int CPhidgetMotorControl_getVelocity	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	velocity
	)

Gets the current velocity of a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	velocity	The current velocity.

int CPhidgetMotorControl_setVelocity	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double	velocity
	)

Sets the velocity of a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	velocity	The velocity.

int CPhidgetMotorControl_set_OnVelocityChange_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity)	fptr,
		void *	userPtr
	)

Sets a velocity change event handler. This is called when the velocity changes.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getAcceleration	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	acceleration
	)

Gets the last set acceleration of a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	acceleration	The acceleration.

int CPhidgetMotorControl_setAcceleration	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double	acceleration
	)

Sets the last set acceleration of a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	acceleration	The acceleration.

int CPhidgetMotorControl_getAccelerationMax	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	max
	)

Gets the maximum acceleration supported by a motor

Parameters:

	phid	An attached phidget motor control handle
	index	The motor index.
	max	The maximum acceleration.

int CPhidgetMotorControl_getAccelerationMin	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	min
	)

Gets the minimum acceleration supported by a motor.

Parameters:

	phid	An attached phidget motor control handle
	index	The motor index.
	min	The minimum acceleration

int CPhidgetMotorControl_getCurrent	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	current
	)

Gets the current current draw for a motor.

Parameters:

	phid	An attached phidget motor control handle
	index	The motor index.
	current	The current.

int CPhidgetMotorControl_set_OnCurrentChange_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current)	fptr,
		void *	userPtr
	)

Sets a current change event handler. This is called when the current draw changes.

Parameters:

	phid	An attached phidget motor control handle
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getInputCount	(	CPhidgetMotorControlHandle	phid,
		int *	count
	)

Gets the number of digital inputs supported by this board.

Parameters:

	phid	An attached phidget motor control handle.
	count	The ditial input count.

int CPhidgetMotorControl_getInputState	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int *	inputState
	)

Gets the state of a digital input.

Parameters:

	phid	An attached phidget motor control handle.
	index	The input index.
	inputState	The input state. Possible values are PTRUE and PFALSE.

int CPhidgetMotorControl_set_OnInputChange_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int inputState)	fptr,
		void *	userPtr
	)

Set a digital input change handler. This is called when a digital input changes.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getEncoderCount	(	CPhidgetMotorControlHandle	phid,
		int *	count
	)

Gets the number of encoder inputs supported by this board.

Parameters:

	phid	An attached phidget motor control handle.
	count	The encoder input count.

int CPhidgetMotorControl_getEncoderPosition	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int *	position
	)

Gets the position of an encoder. This position starts at 0 every time the phidget is opened.

Parameters:

	phid	An attached phidget motor control handle.
	index	The encoder index.
	position	The encoder position.

int CPhidgetMotorControl_setEncoderPosition	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int	position
	)

Sets the encoder position. This can be used to set the position to a known value, and should only be called when the encoder is not moving.

Parameters:

	phid	An attached phidget motor control handle.
	index	The encoder index.
	position	The encoder position.

int CPhidgetMotorControl_set_OnEncoderPositionChange_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int positionChange)	fptr,
		void *	userPtr
	)

Set an encoder position change handler. This is called when the encoder position changes.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_set_OnEncoderPositionUpdate_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int positionChange)	fptr,
		void *	userPtr
	)

Set an encoder position update handler. This is called at a constant rate; every 8ms, whether the encoder position has changed or not.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getBackEMFSensingState	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int *	bEMFState
	)

Gets the Back EMF sensing state for a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	bEMFState	The back EMF sensing state.

int CPhidgetMotorControl_setBackEMFSensingState	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int	bEMFState
	)

Sets the Back EMF sensing state for a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	bEMFState	The back EMF sensing state.

int CPhidgetMotorControl_getBackEMF	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	voltage
	)

Gets the Back EMF voltage for a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	voltage	The back EMF voltage, in volts.

int CPhidgetMotorControl_set_OnBackEMFUpdate_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage)	fptr,
		void *	userPtr
	)

Set a back EMF update handler. This is called at a constant rate; every 16ms, when back EMF sensing is enabled for that motor.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getSupplyVoltage	(	CPhidgetMotorControlHandle	phid,
		double *	supplyVoltage
	)

Gets the Supply voltage for the motors. This could be higher then the actual supply voltage.

Parameters:

	phid	An attached phidget motor control handle.
	supplyVoltage	The supply voltage, in volts.

int CPhidgetMotorControl_getBraking	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double *	braking
	)

Gets the Braking value for a motor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	braking	The braking value, in percent.

int CPhidgetMotorControl_setBraking	(	CPhidgetMotorControlHandle	phid,
		int	index,
		double	braking
	)

Sets the Braking value for a motor. This is applied when velocity is 0. Default is 0%.

Parameters:

	phid	An attached phidget motor control handle.
	index	The motor index.
	braking	The braking value, in percent.

int CPhidgetMotorControl_getSensorCount	(	CPhidgetMotorControlHandle	phid,
		int *	count
	)

Gets the number of sensor inputs supported by this board.

Parameters:

	phid	An attached phidget motor control handle.
	count	The sensor input count.

int CPhidgetMotorControl_getSensorValue	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int *	sensorValue
	)

Gets the value of a sensor.

Parameters:

	phid	An attached phidget motor control handle.
	index	The sensor index.
	sensorValue	The sensor value, range: 0-1000.

int CPhidgetMotorControl_getSensorRawValue	(	CPhidgetMotorControlHandle	phid,
		int	index,
		int *	sensorRawValue
	)

Gets the raw value of a sensor (12-bit).

Parameters:

	phid	An attached phidget motor control handle.
	index	The sensor index.
	sensorRawValue	The sensor value, range: 0-4096.

int CPhidgetMotorControl_set_OnSensorUpdate_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, int sensorValue)	fptr,
		void *	userPtr
	)

Set a sensor update handler. This is called at a constant rate; every 8ms.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

int CPhidgetMotorControl_getRatiometric	(	CPhidgetMotorControlHandle	phid,
		int *	ratiometric
	)

Gets the ratiometric state.

Parameters:

	phid	An attached phidget motor control handle.
	ratiometric	The ratiometric state.

int CPhidgetMotorControl_setRatiometric	(	CPhidgetMotorControlHandle	phid,
		int	ratiometric
	)

Sets the ratiometric state. This control the voltage reference used for sampling the analog sensors.

Parameters:

	phid	An attached phidget motor control handle.
	ratiometric	The ratiometric state.

int CPhidgetMotorControl_set_OnCurrentUpdate_Handler	(	CPhidgetMotorControlHandle	phid,
		int(*)(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current)	fptr,
		void *	userPtr
	)

Set a current update handler. This is called at a constant rate; every 8ms.

Parameters:

	phid	An attached phidget motor control handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.