b3138f1197
- Added sinfo to SICS - Added driver for TCP/IP Astrium velocity selector - Added driver for TCP/IP Astrium chopper controller SKIPPED: psi/amor2t.c psi/amorstat.c psi/dornier2.c psi/ecb.c psi/el734hp.c psi/fowrite.c psi/libpsi.a psi/make_gen psi/nextrics.c psi/pardef.c psi/pimotor.c psi/pipiezo.c psi/polterwrite.c psi/psi.c psi/scontroller.c psi/serial.c psi/tasinit.c psi/tasscan.c psi/tcpdocho.c psi/tcpdornier.c psi/tricssupport.c psi/velodornier.c
60 lines
1.9 KiB
OpenEdge ABL
60 lines
1.9 KiB
OpenEdge ABL
\subsection{lin2ang}
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lin2ang is a virtual motor object which allows to drive an angle
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through a translation table. In ist first incarnation this is meant
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for TOPSI but this may be useful in other places as well. The
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displacement x is calculated from the formula: $ x = L sin 2\theta $
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with L being the length of the arm around which the angle
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pivots. This must be a configurable parameter.
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lin2ang's datastructure is quite simple:
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\begin{verbatim}
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typedef struct __LIN2ANG {
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pObjectDescriptor pDes;
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pIDrivable pDriv;
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pMotor lin;
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float length;
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float zero;
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}Lin2Ang;
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\end{verbatim}
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The fields are:
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\begin{description}
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\item[pDes] The standard SICS object descriptor.
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\item[pDriv] The drivable interface which hides most of the
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functionality of this object.
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\item[lin] The translation table motor to use for driving the angle.
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\item[length] The length of the arm around which the angle pivots.
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\item[zero] The angular zero point of this virtual motor.
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\end{description}
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The interface to this is quite simple, most of the functionality is
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hidden in the drivable interface. Basically there are only the
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interpreter interface functions.
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@d lin2angint @{
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int MakeLin2Ang(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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int Lin2AngAction(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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@}
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@o lin2ang.h @{
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/*-------------------------------------------------------------------------
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L I N 2 A N G
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Drive an angle through a translation table. As of now only for
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TOPSI.
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copyright: see copyright.h
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Mark Koennecke, February 2000
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--------------------------------------------------------------------------*/
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#ifndef LIN2ANG
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#define LIN2ANG
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#include "motor.h"
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@<lin2angint@>
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#endif
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@}
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