Editing Reading actual drive state with SimpleMotion V2
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This C++ example shows how to read actual current driven into motor and convert it to amperes. | This C++ example shows how to read actual current driven into motor and convert it to amperes. | ||
<syntaxhighlight lang="cpp"> | <syntaxhighlight lang="cpp"> | ||
| + | smint32 readout; | ||
| + | float actualcurrent; | ||
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//read raw value of current | //read raw value of current | ||
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smRead1Parameter( handle, nodeAddress, SMP_ACTUAL_TORQUE, &readout ); | smRead1Parameter( handle, nodeAddress, SMP_ACTUAL_TORQUE, &readout ); | ||
//as raw value is integer in "hardware units" scale, convert it to amperes | //as raw value is integer in "hardware units" scale, convert it to amperes | ||
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const float HWcurrentScale=560;//counts/A, this conversion value is for Argon | const float HWcurrentScale=560;//counts/A, this conversion value is for Argon | ||
| − | + | actualTorq=float(smint16(ana2))/HWcurrentScale; | |
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</syntaxhighlight> | </syntaxhighlight> | ||
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SMP_ACTUAL_POSITION_FB, &position, SMP_ACTUAL_VELOCITY_FB, &velocity ); | SMP_ACTUAL_POSITION_FB, &position, SMP_ACTUAL_VELOCITY_FB, &velocity ); | ||
</syntaxhighlight> | </syntaxhighlight> | ||
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