Functions
void	axis (void)
	Select the active axis for subsequent console commands.
void	prof (void)
	Set the motion profile for the active axis.
void	save (void)
	Write the configuration for the active axis to non-volatile memory.
void	show (void)
	Write the configuration for the active axis to the console.
void	step (void)
	Relative move.
void	stepTo (void)
	Absolute move.
void	on (void)
	Turn on stepper motor for the active axis in specified direction.
void	off (void)
	Turn off stepper motor for the active axis.
void	brakeOn (void)
	Turn on the brake for the active axis.
void	brakeOff (void)
	Turn off the brake for the active axis.
void	pos (void)
	Write the current position of the active axis to the console.
void	wtPos (void)
	Set the position of the active axis (not a motion command)
void	state (void)
	Write motion state of the active axis to the console.
void	writeCurrentLimit (void)
	Write current limit to onboard non-volatile digital potentiometer.
void	readCurrentLimit (void)
	Write the board current limit setting to the console.
void	master (void)
	Set the master/slave property for the board.
void	nonBlocking (void)
	Set the command type for the active axis motion commands.
void	units (void)
	Set the units for the active axis.
void	accel (void)
	Set the magnitude of the motion profile acceleration slope for the active axis.
void	maxSpeed (void)
	Set the maximum speed of the motion profile for the active axis.
void	decel (void)
	Set the magnitude of the motion profile deceleration slope for the active axis.
void	msSettle (void)
	Set a settling delay in milliseconds for the active axis. This delay follows any motion command and allows mechanical vibrations in the rotator to dampen.
void	noLimits (void)
	Enable/disable travel limits for the active axis.
void	lowTravelLimit (void)
	Set the minimum allowable position for the active axis.
void	highTravelLimit (void)
	Set the maximum allowable position for the active axis.
void	microSteps (void)
	Set stepper motor microstepping for the active axis.
void	stepsPayload360 (void)
	Set the number of steps for a 360 degree revolution of the payload for the active axis.
void	brakeType (void)
	Set the brake type for the active axis.
void	reverse (void)
	Set the rotation convention for the active axis.
void	currentLimit (void)
	Set the on-board current limiting hardware.
void	home (void)
	Move the active axis to home position.
void	homeAll (void)
	Move the both axes to home position.
void	demo (void)
	Perform a motion sequence suitable for driving a 1 or 2 axis test.

Function Documentation

void accel ( void )

Set the magnitude of the motion profile acceleration slope for the active axis.

Command line use: n accel
Parameters:

n Valid range: CProfile::accelMin to CProfile::accelMax
Modifies CProfile::accel for the active axis
n is always positive
Note:
Use save to make any changes non-volatile

void axis ( void )

Select the active axis for subsequent console commands.

This is a modal setting for the console interface.

Command line use: n axis
Parameters:

n = 0 (horizontal), 1 (vertical), or 2 (vertical slave).
Modifies activeAxis and pAxis.

Axis selection is modal and can only be changed with the axis command or system reset
Motion and configuration commands are routed to the active axis
The active axis setting can be read with the show command

void brakeOff ( void )

Turn off the brake for the active axis.

Command line use: brakeOff
Parameters:

none

void brakeOn ( void )

Turn on the brake for the active axis.

Command line use: brakeOn
Parameters:

none

void brakeType ( void )

Set the brake type for the active axis.

Command line use: n brakeType
Parameters:

n = 0 (none), 1 (passive), or 2 (active)
Modifies CProfile::brakeType for the active axis
Note:
Use save to make any changes non-volatile

void currentLimit ( void )

Set the on-board current limiting hardware.

Command line use: n currentLimit
Parameters:

n Range: 0 to 10
Sets current limiting from 0.5A to 3.0A in .25A increments (0 is lowest)

void decel ( void )

Set the magnitude of the motion profile deceleration slope for the active axis.

Command line use: n decel
Parameters:

n Valid range: CProfile::accelMin to CProfile::accelMax
Modifies CProfile::decel for the active axis
n is always positive
Note:
Use save to make any changes non-volatile

void demo ( void )

Perform a motion sequence suitable for driving a 1 or 2 axis test.

This function performs a series of moves and writes each postion to the console.

Command line use: hLim hInc vLim vInc quick wait demo

Parameters:

hInc	is horizontal axis increment for each test position in active units (degrees or steps)
vLim	is vertical axis limit in active units (degrees or steps)
vInc	is vertical axis increment for each test position in active units (degrees or steps)
quick	= 1: Axes reverse direction after reaching their respective limits (quicker test time)
wait	= 1: Systems waits for command line input after each move

Setting wait=1 requires user/application input before moving to the next position. Wait provides time for the user/application to collect antenna data.
Wait is announced with a "Continue(y/n)?" prompt
Sending any data to the console port while the motors are moving will abort the test.
The test is initiated with a call to homeAll.
homeAll is not executed at the end of the test

To run a 1-axis test, set the limit or increment to zero for the axis you wish to disable.

void highTravelLimit ( void )

Set the maximum allowable position for the active axis.

Command line use: n highTravelLimit
Parameters:

n Range -32767 to 32767 units
Modifies CProfile::highTravelLimit for the active axis
See also:
CProfile::noLimits

Note:
Use save to make any changes non-volatile

void home ( void )

Move the active axis to home position.

Command line use: home
Parameters:

none

void homeAll ( void )

Move the both axes to home position.

Command line use: homeAll
Parameters:

none

void lowTravelLimit ( void )

Set the minimum allowable position for the active axis.

Command line use: n lowTravelLimit
Parameters:

n Range -32767 to 32767 units
Should be set at "home" (0), or very close to it
Modifies CProfile::lowTravelLimit for the active axis
See also:
CProfile::noLimits

Note:
Use save to make any changes non-volatile

void master ( void )

Set the master/slave property for the board.

Command line use: f master
Parameters:

f = 0 (slave) or 1 (master)
This is a board configuration setting, not an "active axis" setting
Master manages the console command interface, the horizontal and vertical pulse engines, and horizontal motor driver
Slave manages the vertical motor driver
Modifies EEPROM variable, no save required
The horizontal controller must be master
The vertical controller must be slave

void maxSpeed ( void )

Set the maximum speed of the motion profile for the active axis.

Command line use: n maxSpeed
Parameters:

n Valid range: CProfile::maxSpeedMin to CProfile::maxSpeedMax
Modifies CProfile::maxSpeed for the active axis
Note:
Use save to make any changes non-volatile

void microSteps ( void )

Set stepper motor microstepping for the active axis.

Command line use: n microSteps
Parameters:

n = 200, 400, 800, 1600, or 3200 (default)
Modifies CProfile::microSteps for the active axis
Note:
Use save to make any changes non-volatile

void msSettle ( void )

Set a settling delay in milliseconds for the active axis. This delay follows any motion command and allows mechanical vibrations in the rotator to dampen.

Command line use: n msSettle
Parameters:

n Valid range: 0-32767 milliseconds
n = 0 effectively disables the settling delay
Modifies CProfile::msSettle for the active axis
Note:
Use save to make any changes non-volatile

void noLimits ( void )

Enable/disable travel limits for the active axis.

Command line use: f noLimits
Parameters:

f = 0 (Limits are enabled), 1 (Limits are disabled)
Modifies CProfile::noLimits for the active axis
See also:
CProfile::lowTravelLimit, CProfile::highTravelLimit

Note:
Use save to make any changes non-volatile

void nonBlocking ( void )

Set the command type for the active axis motion commands.

Command line use: f nonBlocking
Parameters:

f = 0 (blocking (default)), or 1 (non-blocking)
Blocking commands return a command line prompt after axis motion and settling time is complete
Non-blocking commands return a command line prompt immediately after initiating axis motion
Modifies CProfile::nonBlocking for the active axis
Note:
Regardless of the nonBlocking setting, a new motion command is always blocked from executing until a previous motion command has completed. This is a safety feature to protect the integrity of the motion system.

Use save to make any changes non-volatile

void off ( void )

Turn off stepper motor for the active axis.

Command line use: off
Parameters:

none
Goes through deceleration to stop.
Can be used if motor is on() or in a non-blocking step() operation.

void on ( void )

Turn on stepper motor for the active axis in specified direction.

Command line use: f on
Parameters:

f = 0 (negative rotation), 1 (positive rotation)
Movement will be limited if limits are active.

void pos ( void )

Write the current position of the active axis to the console.

Command line use: pos
Parameters:

none

Returns:
Displays CRunProfile::runState for the active axis

void prof ( void )

Set the motion profile for the active axis.

Command line use: accel maxSpeed decel prof
Parameters:

accel 1-25

maxSpeed 10-1000

decel 1-25
Modifies CProfile::accel CProfile::maxSpeed CProfile::decel
Note:
Use save to make any changes non-volatile

void readCurrentLimit ( void )

Write the board current limit setting to the console.

Command line use: readCurrentLimit
Parameters:

none

See also:
writeCurrentLimit

void reverse ( void )

Set the rotation convention for the active axis.

Command line use: f reverse
Parameters:

f = 0 or 1. Change value to change rotation convention
Modifies CProfile::reverse for the active axis
Note:
Use save to make any changes non-volatile

void save ( void )

Write the configuration for the active axis to non-volatile memory.

Command Line Command line use: save
Parameters:

none

void show ( void )

Write the configuration for the active axis to the console.

The output serves as a configuration backup and can be sent directly to console as a series of commands
Command line use: show
Parameters:

none
Use this command to display the active axis and all related settings

void state ( void )

Write motion state of the active axis to the console.

Command line use: state
Parameters:

none

Returns:
Displays CRunProfile::runState for the active axis
Use with non-blocking moves to determine move completion
See also:
CRunProfile

void step ( void )

Relative move.

Command line use: n step
Parameters:

n Signed number of units to move (+/-32767)
Move the active axis n units in the signed direction
The move is restricted by high/low travel limits, if active.

void stepsPayload360 ( void )

Set the number of steps for a 360 degree revolution of the payload for the active axis.

Command line use: n stepsPayload360
Parameters:

n Range: 1 - 32767
Modifies CProfile::stepsPayload360 for the active axis
Note:
Use save to make any changes non-volatile

void stepTo ( void )

Absolute move.

Command line use: n stepTo
Parameters:

n Signed absolute position in units (+/-32767)
Move the active axis to the signed absolute position of n units
The move is restricted by high/low travel limits, if active.

void units ( void )

Set the units for the active axis.

Command line use: f units
Parameters:

f = 0 (degrees (default)), 1 (steps)
Modifies CProfile::units for the active axis
Use save to make any changes non-volatile

void writeCurrentLimit ( void )

Write current limit to onboard non-volatile digital potentiometer.

Command line use: n writeCurrentLimit
Parameters:

n Valid values: 0-10 corresponds to 0.5 amps to 3.0 amp in 0.25 amp increments
There is one current limit setting per board. This is not an "active axis" setting.
Modifies non-volatile registers in the on-board digital potentiometer
See also:
CMcp4242.h

void wtPos ( void )

Set the position of the active axis (not a motion command)

Command line use: wtPos
Parameters:

none
Modifies int CRunProfile::position

ConsoleCommands

Functions

Function Documentation