PiMotion Java Software Interface

Types

public static class VelocityEntry
public static class VelocityEntry
{
  public VelocityEntry(double start_delay, double velocity, double acceleration) {
    this.start_delay = start_delay;
    this.velocity = velocity;
    this.acceleration = acceleration;
  }

  public double start_delay;
  public double velocity;
  public double acceleration;
}
public static class TrapezoidalEntry
public static class TrapezoidalEntry
{
  public TrapezoidalEntry(double start_delay, long position, double velocity, double acceleration, double deceleration) {
    this.start_delay = start_delay;
    this.position = position;
    this.velocity = velocity;
    this.acceleration = acceleration;
    this.deceleration = deceleration;
  }
  public double start_delay;  // seconds
  public long position; // counts
  public double velocity; // counts per sec
  public double acceleration; // counts per sec 2
  public double deceleration;
};
public static class DaqAcquireDataResult
public static class DaqAcquireDataResult
{
  public DaqAcquireDataResult(int samples_acquired, int sample_id)
  {
    this.samples_acquired = samples_acquired;
    this.sample_id = sample_id;
  }

  public int samples_acquired;
  public int sample_id;
};
public static class MtrSegment
public static class MtrSegment
{
  public MtrSegment() {
    options = 0;
    time_ec = 0;
    velocity_cpec = 0;
    accel_cpecc = 0;
    x_c = 0;
    hw_var_repeat = 0;
  }
  public int options;
  public long time_ec;
  public long velocity_cpec;
  public long accel_cpecc;
  public long x_c;
  public int hw_var_repeat;
};

Classes

public class Pidev
Pidev(String pidev_address, String password, int port)

An idealized connection to a specific PiDevice.

Parameters:
  • pidev_address (string) – dot formated ip address of the device (ex: 192.168.1.170)
  • password (string) – password of the device
  • port (int) – ip port

General Methods

public static String[][] pidev_scan(int timeout_ms, int max_results)

Scan for pidev devices

Parameters:
  • timeout_ms (int) – timeout (milliseconds) to wait for devices on each network card
  • max_results (int) – maximum number of results requested
Returns:

array of strings containing address, name, version, device type, software type, password status, and ip port
public void pidev_trigger(int group_trigger, int timer1_relative, int timer2_relative, long timer1_time, long timer2_time, int manual_trigger)

Multiple/complex triggering

Parameters:
  • group_trigger (int) – enable group trigger (0: disabled, 1: enabled)
  • timer1_relative (int) – enable relative trigger based on timer 1 (0: disabled, 1: enabled)
  • timer2_relative (int) – enable relative trigger based on timer 2 (0: disabled, 1: enabled)
  • timer1_time (long) – nanosecond time for timer 1 (absolute or relative), 0: ignore)
  • timer2_time (long) – nanosecond time for timer 2 (absolute or relative), 0: ignore)
  • manual_trigger (int) – manually trigger (0: ignored, 1: trigger now)
public void pidev_trigger_manual()

Manual trigger

public void pidev_trigger_timer1(int relative, long time)

Arm timer 1 trigger

Parameters:
  • relative (int) – relative trigger time (0: absolute, 1: relative)
  • time (long) – nanosecond time
public void pidev_trigger_timer2(int relative, long time)

Arm timer 2 trigger

Parameters:
  • relative (int) – relative trigger time (0: absolute, 1: relative)
  • time (long) – nanosecond time
public void pidev_trigger_group(int timer1_relative, int timer2_relative, long timer1_time, long timer2_time, int manual_trigger)

Group trigger

Parameters:
  • timer1_relative (int) – enable relative trigger based on timer 1 (0: disabled, 1: enabled)
  • timer2_relative (int) – enable relative trigger based on timer 2 (0: disabled, 1: enabled)
  • timer1_time (long) – nanosecond time for timer 1 (absolute or relative), 0: ignore)
  • timer2_time (long) – nanosecond time for timer 2 (absolute or relative), 0: ignore)
  • manual_trigger (int) – manually trigger (0: ignored, 1: trigger now)
public long[] pidev_info()

Get information about the device

Returns:array of strings: app running, version number, build number, error mask, serial number, and manufacture date
public void pidev_set_password(String password)

Change device password

Parameters:
  • password (String) – password string
public void pidev_set_ptp_password(String password)

Change device ptp password

Parameters:
  • password (String) – password string
public void pidev_set_timeout_offset(int timeout_offset_ms)

Add additional timeout time to all library calls

Parameters:
  • timeout_offset_ms (int) – additional time (milliseconds)
public double pidev_get_temperature()

Get device internal temperature

Returns:double temperature in degrees C
public void err_register_callback(String ifaddr, int port, String callbackname)

Register error/vmsg callback

Parameters:
  • ifaddr (String) – interface address (ip address of which network card to use), or “all” for all network cards
  • port (int) – ip port
  • callbackname (String) – name of callback function
public static String err_get_string_from_code(Error error_code)

Get error string from code

Parameters:
  • error_code (Error) – error code
Returns:

error string
public int pidev_get_version()

Pidev version information

Returns:int version number
public int pidev_get_build()

Pidev build identifier

Returns:int build number
public void pidev_set_id_duration(int val)

Identify device by blinking led

Parameters:
  • val (int) – duration (ms) for led blink
public int pidev_get_faults()

Faults bitmask

Returns:int faults bitmask
public void pidev_vmsg_test(str val)

Echo a message from the device via the messaging protocol

Parameters:
  • val (str) – a test string to echo
public void pidev_clear_faults()

Clear faults bit field

public void pidev_get_connected_devices()
public str vserver_get_domain_name()
Returns:str host name string
public void vserver_set_domain_name(str val)

Host name (used by dynamic dns)

Parameters:
  • val (str) – host name string
public int vserver_get_port()
Returns:int host name string
public void vserver_set_port(int val)

Host name (used by dynamic dns)

Parameters:
  • val (int) – host name string

Configuration Methods

public byte config_get_dhcp()

Dhcp enable flag

Returns:byte 0 - disabled, 1 - enabled
public void config_set_dhcp(byte val)

Dhcp enable flag

Parameters:
  • val (byte) – 0 - disabled, 1 - enabled
public byte config_get_ip_address()

Static ip address of the device

Returns:byte array of four 8 bit values representing ipv4 address
public void config_set_ip_address(byte val)

Static ip address of the device

Parameters:
  • val (byte) – array of four 8 bit values representing ipv4 address
public str config_get_host_name()

Host name (used by dynamic dns)

Returns:str host name string
public void config_set_host_name(str val)

Host name (used by dynamic dns)

Parameters:
  • val (str) – host name string
public void config_commit()

Commit configuration changes to flash

public void config_reset()

Reset the device

public byte config_get_ptp_master()

Ptp master enable flag

Returns:byte 0 - disabled, 1 - enabled
public void config_set_ptp_master(byte val)

Ptp master enable flag

Parameters:
  • val (byte) – 0 - disabled, 1 - enabled
public byte config_get_device_group()

Device group identifier

Returns:byte 0 - no group, 1-255 - group identifier
public void config_set_device_group(byte val)

Device group identifier

Parameters:
  • val (byte) – 0 - no group, 1-255 - group identifier
public int config_get_ip_port()

Network ip port number of the device

Returns:int ip port number
public void config_set_ip_port(int val)

Network ip port number of the device

Parameters:
  • val (int) – ip port number
public int config_get_msg_port()

Network ip port number for the messaging protocol

Returns:int ip port number
public void config_set_msg_port(int val)

Network ip port number for the messaging protocol

Parameters:
  • val (int) – ip port number
public byte config_get_device_id()

Unique device identifier of a device within a group

Returns:byte 0 - 255, unique device identifier
public void config_set_device_id(byte val)

Unique device identifier of a device within a group

Parameters:
  • val (byte) – 0 - 255, unique device identifier
public int config_get_heartbeat_mask()

Bitmask for inter-device heartbeat/faults

Returns:int 32 bit mask
public void config_set_heartbeat_mask(int val)

Bitmask for inter-device heartbeat/faults

Parameters:
  • val (int) – 32 bit mask
public int config_get_gpio_direction()

Startup gpio channel direction bit field

Returns:int bitfield: 0 - output, 1 - input
public void config_set_gpio_direction(int val)

Startup gpio channel direction bit field

Parameters:
  • val (int) – bitfield: 0 - output, 1 - input
public int config_get_gpio_pullup()

Startup gpio input pullup enable bitfield

Returns:int bitfield: 0 - pullup disabled, 1 - pullup enabled
public void config_set_gpio_pullup(int val)

Startup gpio input pullup enable bitfield

Parameters:
  • val (int) – bitfield: 0 - pullup disabled, 1 - pullup enabled
public int config_get_gpio_polarity()

Startup gpio input/output polarity configuration bitfield

Returns:int bitfield: 0 - normal polarity, 1 - inverse polarity
public void config_set_gpio_polarity(int val)

Startup gpio input/output polarity configuration bitfield

Parameters:
  • val (int) – bitfield: 0 - normal polarity, 1 - inverse polarity
public int config_get_gpio_value()

Startup gpio pin state

Returns:int bitfield: 0 - low, 1 - high
public void config_set_gpio_value(int val)

Startup gpio pin state

Parameters:
  • val (int) – bitfield: 0 - low, 1 - high
public int config_get_supervisor_port()

Network ip port number for the inter-device protocol

Returns:int ip port number
public void config_set_supervisor_port(int val)

Network ip port number for the inter-device protocol

Parameters:
  • val (int) – ip port number
public int config_get_fault_handler(int chan_id)

Associated fault handler with fault id

Parameters:
  • chan_id (int) – fault id
Returns:

int fault handler id
public void config_set_fault_handler(int chan_id, int val)

Associated fault handler with fault code

Parameters:
  • chan_id (int) – fault id
  • val (int) – fault handler id
public str config_get_keepalive_name()

Host name (used by dynamic dns)

Returns:str host name string
public void config_set_keepalive_name(str val)

Host name (used by dynamic dns)

Parameters:
  • val (str) – host name string
public int config_get_keepalive_port()

Network ip port number for the inter-device protocol

Returns:int ip port number
public void config_set_keepalive_port(int val)

Network ip port number for the inter-device protocol

Parameters:
  • val (int) – ip port number

Time Methods

public void vtrigger_set()

Manually trigger waiting operations

public long time_get_clock()

Current clock value (ns)

Returns:long 64 bit nanoseconds
public void time_get_offset_from_master()

Clock offset/difference from master

public void time_get_drift()
public void time_get_kp()
public void time_set_kp(float val)
Parameters:
  • val (float) –
public void time_get_ki()
public void time_set_ki(float val)
Parameters:
  • val (float) –

Motor Methods

public void mtr_start(int start_segment, Trigger trigger)

Start the motor starting at start_segment (usually 0) using the trigger condition specified.

Parameters:
  • start_segment (int) – starting segment
  • trigger (Trigger) – trigger type. See Trigger Source
public void mtr_reset()

Reset the motor

public void mtr_write_phase_mem(int[] fields, int shift_value)

Write motor phase waveform

Parameters:
  • fields (int[]) – fields array
  • shift_value (int) – shift value
public void mtr_write_phase_mem_default(int phases, int poles, int encCntsPerRot)

Write default motor phase waveform to controller

Parameters:
  • phases (int) – number of motor phases
  • poles (int) – number of motor poles
  • encCntsPerRot (int) –
public void mtr_write_phase_mem_stepper(int microstep_multiplier)

Write phase memory for stepper motor

Parameters:
  • microstep_multiplier (int) – TODO
public void mtr_write_table(int start_addr, int num_segments, MtrSegment[] segments)

Write motion table

Parameters:
  • start_addr (int) –
  • num_segments (int) – number of segments
  • segments (MtrSegment[]) – segments array
public void mtr_read_table(int start_addr, int num_segments, MtrSegment[] segments)

Read motion table

Parameters:
  • start_addr (int) –
  • num_segments (int) – number of segments
  • segments (MtrSegment[]) – segments array
public void mtr_write_target_position(long position, int servomode)

Write target position

Parameters:
  • position (long) – position
  • servomode (int) – servo mode. See Servo Mode
public int mtr_create_velocity_profile(double start_velocity, VelocityEntry[] entries, ServoMode servomode, int elec_cycle_div, MtrSegment[] segments)

Create a velocity profile

Parameters:
  • start_velocity (double) – starting velocity
  • entries (VelocityEntry[]) –
  • servomode (ServoMode) – servo mode. See Servo Mode
  • elec_cycle_div (int) – electrical cycles divisor
  • segments (MtrSegment[]) – segments array
public int mtr_create_trapezoidal_profile(long start_position, TrapezoidalEntry[] entries, int elec_cycle_div, MtrSegment[] segments)

Create a trapezoidal profile

Parameters:
  • start_position (long) – starting position
  • entries (TrapezoidalEntry[]) –
  • elec_cycle_div (int) – electrical cycles divisor
  • segments (MtrSegment[]) – segments array
public int mtr_get_elec_cycle_div()

Get the electrical cycle time divisor. this value is used to set the electrical cycle time clock. it is calculated by dividing the base clock rate default_clk_pimotion by this value. example: elec_cycle_div = default_clk_pimotion * 0.001.

Returns:int the electrical cycle time divisor.
public void mtr_set_elec_cycle_div(int val)

Set the electrical cycle time divisor. this value is used to set the electrical cycle time clock. the electrical cycle time is calculated by dividing the base clock rate default_clk_pimotion by this value.

Parameters:
  • val (int) – the electrical cycle time divisor. To calculate the divisor do the following: divisor = DEFAULT_CLK_PIMOTION * 0.001 where 0.001 is the period in seconds.
public float mtr_get_kp()

Get the servo loop kp term. see PID Algorithm

Returns:float the active Kp value.
public void mtr_set_kp(float val)

Set the servo loop kp term. this value acts upon the servo loop immediately. see PID Algorithm

Parameters:
  • val (float) – value of the Kp. Range of 0.0 to 32768.0
public float mtr_get_ki()

Get the servo loop ki term. see PID Algorithm

Returns:float the active Ki value.
public void mtr_set_ki(float val)

Set the servo loop ki term. this value acts upon the servo loop immediately. see PID Algorithm

Parameters:
  • val (float) – value of the Ki. Range of 0.0 to 32768.0. A value of 0 disables the Ki component.
public float mtr_get_kd()

Get the servo loop kd term. see PID Algorithm

Returns:float the active Kd value.
public void mtr_set_kd(float val)

Set the servo loop kd term. this value acts upon the servo loop immediately. see PID Algorithm

Parameters:
  • val (float) – value of the Ki. Range of 0.0 to 32768.0. A value of 0 disables the Kd component.
public int mtr_get_ilim()

Get the servo loop integration limit. see PID Algorithm

Returns:int the active integration limit value.
public void mtr_set_ilim(int val)

Set the servo loop integration limit. see PID Algorithm

Parameters:
  • val (int) – value of the integration limit.
public float mtr_get_kvff()

Get the servo loop velocity feed forward. see PID Algorithm

Returns:float value of the velocity feed forwarf (vff)
public void mtr_set_kvff(float val)

Set the servo loop velocity feed forward. see PID Algorithm

Parameters:
  • val (float) – value of the velocity feed forward (vff)
public float mtr_get_kaff()

Get the servo loop acceleration feed forward. see PID Algorithm

Returns:float value of the acceleration feed forwarf (vff)
public void mtr_set_kaff(float val)

Set the servo loop acceleration feed forward. see PID Algorithm

Parameters:
  • val (float) – value of the acceleration feed forwarfd(vff)
public int mtr_get_max_pid_output()

Get the maximum pid (servo loop) output. see PID Algorithm

Returns:int the maximum output of the PID loop.
public void mtr_set_max_pid_output(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.
public int mtr_get_output_polarity()

Get the output polarity of the pid.

Returns:int the polarity of the servo loop. 0 - positive (default), 1 - negative
public void mtr_set_output_polarity(int val)

Set the output polarity of the pid.

Parameters:
  • val (int) – polarity . 0 - Positive, 1 - negative
public short mtr_get_pid_output()

Get the output of the pid (servo loop).

Returns:short PID output in terms of DAC output (-32768 to 32767).
public int mtr_get_enc_counts_per_rot()

Get the encoder counts per rotation.

Returns:int encoder counts per rotation in terms of counts.
public void mtr_set_enc_counts_per_rot(int val)

Set the encoder counts per rotation of the encoder. a 512 line encoder has 1024 counts per rotation.

Parameters:
  • val (int) – encoder counts per rotation in terms of counts.
public void mtr_set_enc_polarity(int val)

Set the polarity of the encoder. the encoder counts can be changed to decrement instead of increment by setting the polarity.

Parameters:
  • val (int) – polarity of the encoder. 0 - Positive polarity (default) 1 - Negative polarity,
public int mtr_get_enc_pos()

Get the encoder position. the value read is the current encoder count.

Returns:int the encoder count in counts. The encoder count will have a range from 0 - encoder_counts_per_rotation.
public int mtr_get_enc_index_pos()

Get the encoder position of the index. every time an index pulse is detected, the encoder position of the index is recorded.

Returns:int index encoder position in counts.
public int mtr_get_enc_index_count()

Get the index counter. every time an index pulse is detected (either forward rotation or reverse rotation) the encoder index count is incremented.

Returns:int index counter in counts.
public int mtr_get_enc_glitch_count()

Get the encoder glitch count. any time the encoder enters a state that is unexpected, the encoder glitch count is incremented. the encoder glitch count should remain at zero unless there is a bad connection or faulty encoder.

Returns:int glitch count.
public int mtr_get_aux_enc_counts_per_rot()

Get the auxiliary encoder counts per rotation.

Returns:int counts per rotation in counts.
public void mtr_set_aux_enc_counts_per_rot(int val)

Set the auxiliary encoder counts per rotation. this is the number of counts for a full rotation of the encoder. for example, if the encoder was a 512 line encoder, the number of counts per rotation would be 512 * 4 = 1024.

Parameters:
  • val (int) – encoder counts per rotation in terms of counts.
public void mtr_set_aux_enc_polarity(int val)

Set the polarity of the auxiliary encoder. the encoder counts can be changed to decrement instead of increment by setting the polarity.

Parameters:
  • val (int) – polarity of the encoder. 0 - Positive polarity (default) 1 - Negative polarity,
public long mtr_get_aux_actual_pos()

Get the actual position from the auxiliary encoder. this is a signed 64 bit value.

Returns:long the actual position of the auxiliary encoder.
public int mtr_get_aux_enc_pos()

Get the auxiliary encoder position. the value read is the current encoder count of the auxiliary encoder input.

Returns:int encoder counts of the auxiliary encoder.
public int mtr_get_aux_enc_index_pos()

Get the auxiliary encoder position of the index. every time an index pulse is detected, the auxiliary encoder position of the index is recorded.

Returns:int encoder position in counts.
public int mtr_get_aux_enc_index_count()

Get the auxiliary encoder index counter. every time an index pulse is detected on the auxiliary encoder, (either forward rotation or reverse rotation) the auxiliary encoder index count is incremented. note: this value will not change on encoders that do not have an index option.

Returns:int index count. Number of times the encoder has passed the index line.
public int mtr_get_aux_enc_glitch_count()

Get the auxiliary encoder glitch count. any time the auxiliary encoder enters a state that is unexpected, the encoder glitch count is incremented. the encoder glitch count should remain at zero unless there is a bad connection or faulty encoder.

Returns:int glitch count.
public void mtr_set_use_aux_enc_for_servo(int val)

Sets which encoder is used for the trajectory generator and servo loop (pid). defaultly the trajectory generator and the servo loop use the first encoder input (not the auxiliary).

Parameters:
  • val (int) – select to use the auxiliary encoder as the input to the trajectory generator and servo loop. 0 - first encoder (default), 1 -auxiliary encoder.
public int mtr_get_mtr_type()

Get the motor type.

Returns:int motor type (MTR_TYPE_3PHASE = 0, MTR_TYPE_STEPPER = 1, MTR_TYPE_VOICECOIL = 2)
public void mtr_set_mtr_type(int val)

Set the motor type. the motor can be a three-phase motor, stepper motor, or voice coil motor.

Parameters:
  • val (int) – motor type. Valid settings are: MTR_TYPE_3PHASE = 0, MTR_TYPE_STEPPER = 1, MTR_TYPE_VOICECOIL = 2
public int mtr_get_poles()

Get the motor poles.

Returns:int the number of poles.
public void mtr_set_poles(int val)

Set the number of poles of the motor. valid numbers are 2, 4, 6, 8, 12 - 200

Parameters:
  • val (int) – number of poles of the motor.
public void mtr_get_loop_mode()
public void mtr_set_loop_mode(int val)
Parameters:
  • val (int) –
public int mtr_get_was_reset()

Get whether the motor was reset or not.

Returns:int returns 0 - motor was not reset, 1 - motor was reset.
public int mtr_get_reset_state()

Gets the current state the motion controller is in during reset. states are: 0 - idle, 1 - commutation_1, 2 - commutation_2, 3 - commutation_3, 4 - error, 5 - running.

Returns:int the reset state.
public int mtr_get_reset_wait_time_ms()

Get the motor reset wait time.

Returns:int the reset wait time in milliseconds.
public void mtr_set_reset_wait_time_ms(int val)

Set the motor reset wait time. this is the amount of time the motor will be energized at a fixed phase during reset to determine the commutation angle.

Parameters:
  • val (int) – time in milliseconds to energize the phase.
public int mtr_get_reset_current()

Get the amount of current used during reset.

Returns:int the current in terms of DAC output.
public void mtr_set_reset_current(int val)

Set the amount of current used during reset. the value set with this call will be the amount of current sent to a motor phase during reset.

Parameters:
  • val (int) – current in terms of DAC output.
public int mtr_get_open_loop_drive_current()

Get the open loop drive current.

Returns:int the open loop drive current.
public void mtr_set_open_loop_drive_current(int val)

Set the open loop drive current. when in mtr_mode_manual, this will be the current energizing the phases of the motor.

Parameters:
  • val (int) – current in terms of DAC output.
public void mtr_get_manual_loop_current()
public void mtr_set_manual_loop_current(int val)
Parameters:
  • val (int) –
public int mtr_get_pwr_enable()

Get power state of the amplifier.

Returns:int returns a 0 - Off and a 1 - On
public void mtr_set_pwr_enable(int val)

Set the power state of the amplifier. this will turn all outputs of the amplifiers to off or on.

Parameters:
  • val (int) – 0 - off, 1 - on
public int mtr_get_traj_gen_enable()

Get if the trajectory generator is enabled.

Returns:int returns a 0 - Off and a 1 - On
public void mtr_set_traj_gen_enable(int val)

Enables or disables the trajectory generator.

Parameters:
  • val (int) – A value of 0 turns the trajectory generator off. A value of 1 turns the trajectory generator on.
public int mtr_get_traj_gen_table_seg()

Get the active trajectory generator segment.

Returns:int segment entry 0 thru 100
public long mtr_get_traj_gen_current_time()

Get the active time from the trajectory generator.

Returns:long time in ???
public void mtr_get_traj_gen_busy()

Get the busy state of the trajectory generator.

public int mtr_get_phase_size()

Get the current numbers of entries in the phase memory.

Returns:int number of entries.
public void mtr_set_phase_size(int val)

Set the number of entries in the phase memory.

Parameters:
  • val (int) –
public void mtr_get_phase_mem_shift()
public void mtr_set_phase_mem_shift(int val)
Parameters:
  • val (int) –
public void mtr_get_phase_offset()

Gets the phase offset.

public void mtr_set_phase_offset(int val)
Parameters:
  • val (int) –
public void mtr_get_phase_mem_address()
public int mtr_get_max_pos_error()

Get the maximum allowed position error.

Returns:int the maximum position error in counts.
public void mtr_set_max_pos_error(int val)

Set the maximum allowed position error. if the position error exceeds this value, the motor will shutdown and a position error will be generated.

Parameters:
  • val (int) – error in terms of counts.
public int mtr_get_motion_error()

Get the motion error register.

Returns:int the motion error.
public void mtr_set_motion_error(int val)

Clear all motion errors.

Parameters:
  • val (int) – set the value to 0 to clear the errors.
public int mtr_get_pos_error()

Get the position error in counts.

Returns:int position error in counts.
public void mtr_get_vel_error()

Get the velocity error in counts per second.

public long mtr_get_target_vel()

Get the target velocity.

Returns:long the target velocity.
public long mtr_get_actual_vel()

Get the actual velocity.

Returns:long the actual velocity.
public long mtr_get_target_pos()

Get the target position.

Returns:long the target position.
public long mtr_get_actual_pos()

Get the actual position.

Returns:long the actual position.
public short mtr_get_dac_output_a()

Get the dac output to phase a of the motor. this is the value that is sent to the dac.

Returns:short the DAC output value for phase A.
public short mtr_get_dac_output_b()

Get the dac output to phase b of the motor. this is the value that is sent to the dac.

Returns:short the DAC output value for phase B.
public short mtr_get_phase_a()

Get the currently selected phase a value from the phase memory table.

Returns:short the value of phase A
public short mtr_get_phase_b()

Get the currently selected phase b value from the phase memory table.

Returns:short the value of phase B
public void mtr_restore_defaults()

Restore motor configuration to power on defaults.

public int mtr_get_profile_finished()

Get the finished state of the profile. if the motor profile has completed the last segment in the table, the profile will be finished.

Returns:int returns the profile finished state. 0 - not finished, 1 - finished.
public long mtr_get_actual_index_pos()

Get the actual (64bit) position of the index. every time an index pulse is detected, the actual position of the index is recorded. see actual position.

Returns:long the actual position of the index (64 bit position).
public long mtr_get_aux_actual_index_pos()

Get the actual (64bit) position of the auxiliary encoder index. every time an index pulse of the auxiliary encoder is detected, the auxiliary actual position of the index is recorded. see actual position.

Returns:long the auxiliary actual position of the index (64 bit position).
public byte mtr_get_kvff_shift()

Gets the amount of bits to shift the kvff (velocity feed forward) term right. velocity_feed_forward = kvff >> kvff_shift. see PID Algorithm and velocity feed forward.

Returns:byte the value of kvff_shift.
public void mtr_set_kvff_shift(byte val)

Sets the amount of bits to shift the kvff (velocity feed forward) term right. velocity_feed_forward = kvff >> kvff_shift. see PID Algorithm and velocity feed forward.

Parameters:
  • val (byte) – the amount to shift Kvff right. Valid values of 0 - 15.
public byte mtr_get_kaff_shift()

Gets the amount of bits to shift the kaff (velocity feed forward) term left. acceleration_feed_forward = kaff << kaff_shift. see PID Algorithm and acceleration feed forward.

Returns:byte the value of kaff_shift.
public void mtr_set_kaff_shift(byte val)

Sets the amount of bits to shift the kaff (velocity feed forward) term left. acceleration_feed_forward = kaff << kaff_shift. see PID Algorithm and acceleration feed forward.

Parameters:
  • val (byte) – the amount to shift Kaff left. Valid values of 0 - 15.
public void mtr_set_biquad_enable(int val)

Set the power state of the amplifier. this will turn all outputs of the amplifiers to off or on.

Parameters:
  • val (int) – 0 - off, 1 - on
public void mtr_set_biquad_shiftby(byte val)

Sets the amount of bits to shift the kaff (velocity feed forward) term left. acceleration_feed_forward = kaff << kaff_shift. see PID Algorithm and acceleration feed forward.

Parameters:
  • val (byte) – the amount to shift Kaff left. Valid values of 0 - 15.
public void mtr_set_biquad_a0(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.
public void mtr_set_biquad_a1(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.
public void mtr_set_biquad_a2(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.
public void mtr_set_biquad_b1(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.
public void mtr_set_biquad_b2(int val)

Set the maximum pid (servo loop) current output. this sets the positive and negative outputs. example: 10000 would set a limit of positive limit of 10000 and a negative limit of -10000. see PID Algorithm

Parameters:
  • val (int) – current in terms of DAC output.

Data Acquisition Methods

GPIO Methods

public int gpio_get_value(int chan_id)

Gpio pin state

Parameters:
  • chan_id (int) – bit mask of gpio pins on which operate. For example, 0x0f would only operate on GPIO 0-3, others are ignored.
Returns:

int bitfield: 0 - low, 1 - high
public void gpio_set_value(int chan_id, int val)

Gpio pin state

Parameters:
  • chan_id (int) – bit mask of gpio pins on which operate. For example, 0x0f would only operate on GPIO 0-3, others are ignored.
  • val (int) – bitfield: 0 - low, 1 - high. For example, 0x11 would set GPIO 0 and GPIO 4 high (if configured as outputs).
public void gpio_set_polarity(int chan_id, int val)

Gpio input/output polarity configuration bitfield

Parameters:
  • chan_id (int) –
  • val (int) – bitfield: 0 - normal polarity, 1 - inverse polarity
public void gpio_set_pullup(int chan_id, int val)

Gpio input pullup enable bitfield

Parameters:
  • chan_id (int) –
  • val (int) – bitfield: 0 - pullup disabled, 1 - pullup enabled
public void gpio_set_direction(int chan_id, int val)

Gpio channel direction bit field

Parameters:
  • chan_id (int) –
  • val (int) – bitfield: 0 - output, 1 - input

Analog to Digital Converter Methods

public void daq_start(int chan_id, int divisor, int start_sample, int num_samples, Trigger trigger)

Start the data acquisition channel

Parameters:
  • chan_id (int) – channel identifier
  • divisor (int) – clock divisor, to derive sampling rate (divisor of 0.001 gives 1kHz sample rate
  • start_sample (int) – post-trigger sample number
  • num_samples (int) – number of samples
  • trigger (Trigger) – trigger type. See Trigger Source
public void daq_listen(int chan_id)

Receive data acquisition channel that has already been started by a different connection

Parameters:
  • chan_id (int) – channel identifier
public void daq_register_callback(int chan_id, int samples, int milliseconds, String callbackname)

Listen for data acquisition. only needs to be registered once.

Parameters:
  • chan_id (int) – channel identifier
  • samples (int) –
  • milliseconds (int) – milliseconds before callback
  • callbackname (String) – name of callback function
public DaqAcquireDataResult daq_acquire_data(int chan_id, int samples, int[] buffer)

Listen for data acquisition

Parameters:
  • chan_id (int) – channel identifier
  • samples (int) –
  • buffer (int[]) –
public int daq_get_sample(int chan_id)

Get a single data acquistion sample

Parameters:
  • chan_id (int) – channel identifier