Difference between revisions of "SimpleMotion parameter valid value range"
From Granite Devices Knowledge Wiki
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To identify the limits of the parameter, one can use following method with SimpleMotion API: | To identify the limits of the parameter, one can use following method with SimpleMotion API: | ||
<syntaxhighlight lang="c" line> | <syntaxhighlight lang="c" line> | ||
| − | + | //read the actual value, minimum valid value and maximum valid value of SMP_TRAJ_PLANNER_VEL parameter | |
| − | + | smint32 value, min, max; | |
| − | + | smRead3Parameters( busHandle, deviceAddress, SMP_TRAJ_PLANNER_VEL ,&value, SMP_TRAJ_PLANNER_VEL|SMP_MIN_VALUE_MASK,&min, SMP_TRAJ_PLANNER_VEL|SMP_MAX_VALUE_MASK, &max); | |
</syntaxhighlight> | </syntaxhighlight> | ||
Revision as of 12:01, 6 March 2018
Each writable SimpleMotion parameter has a value range that is accepted. In most cases the value range is just linear range between minimum and maximum values. In some cases value might have special binary format and valid values are more complexly defined.
Linear value range
There are two types of linear range parameters
- parameters with no upper/lower bounds, except the bit length of the transmittable value
- parameters with defined upper/lower bounds
To identify the limits of the parameter, one can use following method with SimpleMotion API:
//read the actual value, minimum valid value and maximum valid value of SMP_TRAJ_PLANNER_VEL parametersmint32 value, min, max;
smRead3Parameters( busHandle, deviceAddress, SMP_TRAJ_PLANNER_VEL ,&value, SMP_TRAJ_PLANNER_VEL|SMP_MIN_VALUE_MASK,&min, SMP_TRAJ_PLANNER_VEL|SMP_MAX_VALUE_MASK, &max);
Complex value range
Some parameters, such as SMP_SERIAL_ENC_BITS accepts a special binary format as value thus the valid range can't be defined with min-max method. In these cases, refer to simplemotion_defs.h for valid input values.
