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

These calls are specific to the Phidget Motor Control object. See your device's User Guide for more specific API details, technical information, and revision details. The User Guide, along with other resources, can be found on the product page for your device.

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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.