PiMotion™ Constants

General

PILIB_VERSION	alphanumeric library version
PIDEV_DEFAULT_PORT	default command ip port
PIDEV_DEFAULT_VMSG_PORT	default message ip port
DEFAULT_CLK_PIMOTION	device clock rate in Hz
MAX_MTR_SEGMENTS	maximum motor table segments
PHASE_MEMORY_SIZE	phase memory size
MTR_DAC_RESOLUTION	motor output current per DAC step in amps

Motor Type

MTR_TYPE_3PHASE	3-phase motor
MTR_TYPE_STEPPER	stepper motor
MTR_TYPE_VOICECOIL	voice coil motor

Move Type

MTR_MOVETYPE_VELOCITY	velocity move
MTR_MOVETYPE_POSITION	position move

Motor Mode

MTR_MODE_MANUAL	manual mode
MTR_MODE_OPENLOOP	open loop mode
MTR_MODE_CLOSEDLOOP	closed loop mode

Trigger Source

TRIG_SRC_TIMER_1	use timer 1 as trigger source
TRIG_SRC_TIMER_2	use timer 2 as trigger source
TRIG_SRC_GPIO	use gpio as trigger source
TRIG_SRC_MANUAL	manually trigger
TRIG_SRC_NONE	no trigger (do not wait)

Servo Mode

SERVOMODE_VELOCITY	servo on velocity
SERVOMODE_POSITION	servo on position

Security

PIDEV_SCAN_SECURITY_DEFAULT	default password set
PIDEV_SCAN_SECURITY_CUSTOM_PASSWORD	custom password set

Software Type

PIDEV_SCAN_SW_BL	bootloader
PIDEV_SCAN_SW_APP	main app