National Instruments NI-Motion - page 103

Chapter 7 Contoured Moves
© National Instruments Corporation 7-7 NI-Motion User Manual
i32* downloadData = NULL;// The temporary array that
is created to // download the points to the motion
controller
u32 currentDataPoint = 0;// Indicates the next point
in the points // array to download
i32 backlog;// Indicates the available space to
download more //points
u16 bufferState;// Indicates the state of the onboard
buffer
u32 pointsDone;// Indicates the number of points that
have been // consumed
u32 dataCopied = 0;// Keeps track of the points
copied
//Variables for modal error handling
u16 commandID;// The commandID of the function
u16 resourceID;// The resource ID
i32 errorCode;// Error code
///////////////////////////////
// Set the board ID
boardID = 1;
// Set the vector space number
vectorSpace = NIMC_VECTOR_SPACE1;
////////////////////////////////
// Configure a 2D vector space comprising of axes 1
and 2
err = flex_config_vect_spc(boardID, vectorSpace,
NIMC_AXIS1, NIMC_AXIS2, NIMC_NOAXIS);
CheckError;
//Set the operation mode to absolute position
err = flex_set_op_mode(boardID, vectorSpace,
NIMC_ABSOLUTE_CONTOURING);
CheckError;
// Configure buffer on motion controller memory (RAM)
// Note requested time interval is hardcoded to 10
milliseconds
err = flex_configure_buffer(boardID, 1 /*buffer
number*/, vectorSpace, NIMC_POSITION_DATA,
bufferSize, numPoints, NIMC_TRUE, 10,
&actualInterval);
CheckError;
// Send the first 1,000 points of the data
downloadData = malloc(sizeof(i32)*bufferSize);