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EMCMOT_DEBUG Struct Reference

#include <emcmot.h>

Collaboration diagram for EMCMOT_DEBUG:

[legend]

Data Fields
unsigned char	head
double	tMin
double	tMax
double	tAvg
double	sMin
double	sMax
double	sAvg
double	nMin
double	nMax
double	nAvg
double	yMin
double	yMax
double	yAvg
double	fMin
double	fMax
double	fAvg
double	fyMin
double	fyMax
double	fyAvg
EMC_TELEOP_DATA	teleop_data
double	ferrorCurrent [EMCMOT_MAX_AXIS]
double	ferrorHighMark [EMCMOT_MAX_AXIS]
int	split
int	stepperCount [EMCMOT_MAX_AXIS]
int	pdmult [EMCMOT_MAX_AXIS]
int	enable [EMCMOT_MAX_AXIS]
int	wdEnabling
int	wdEnabled
int	wdWait
int	wdCount
unsigned char	wdToggle
unsigned char	allHomed
double	jointHome [EMCMOT_MAX_AXIS]
int	maxLimitSwitchCount [EMCMOT_MAX_AXIS]
int	minLimitSwitchCount [EMCMOT_MAX_AXIS]
int	ampFaultCount [EMCMOT_MAX_AXIS]
TP_STRUCT	queue
TP_STRUCT	freeAxis [EMCMOT_MAX_AXIS]
EmcPose	freePose
CUBIC_STRUCT	cubic [EMCMOT_MAX_AXIS]
TC_STRUCT	queueTcSpace [DEFAULT_TC_QUEUE_SIZE+10]
TC_STRUCT	freeAxisTcSpace [EMCMOT_MAX_AXIS][FREE_AXIS_QUEUE_SIZE]
double	rawInput [EMCMOT_MAX_AXIS]
double	rawOutput [EMCMOT_MAX_AXIS]
double	coarseJointPos [EMCMOT_MAX_AXIS]
double	jointPos [EMCMOT_MAX_AXIS]
double	jointVel [EMCMOT_MAX_AXIS]
double	oldJointPos [EMCMOT_MAX_AXIS]
double	outJointPos [EMCMOT_MAX_AXIS]
double	oldInput [EMCMOT_MAX_AXIS]
char	oldInputValid [EMCMOT_MAX_AXIS]
double	inverseInputScale [EMCMOT_MAX_AXIS]
double	inverseOutputScale [EMCMOT_MAX_AXIS]
EmcPose	oldPos
EmcPose	oldVel
EmcPose	newVel
EmcPose	newAcc
double	bigVel [EMCMOT_MAX_AXIS]
int	homingPhase [EMCMOT_MAX_AXIS]
int	latchFlag [EMCMOT_MAX_AXIS]
double	saveLatch [EMCMOT_MAX_AXIS]
int	enabling
int	coordinating
int	teleoperating
int	wasOnLimit
int	onLimit
int	overriding
int	stepping
int	idForStep
MMXAVG_STRUCT	tMmxavg
MMXAVG_STRUCT	sMmxavg
MMXAVG_STRUCT	nMmxavg
MMXAVG_STRUCT	yMmxavg
MMXAVG_STRUCT	fMmxavg
MMXAVG_STRUCT	fyMmxavg
double	tMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	sMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	nMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	yMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	fMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	fyMmxavgSpace [DEFAULT_MMXAVG_SIZE]
double	start_time
double	running_time
double	cur_time
double	last_time
double	bcomp [EMCMOT_MAX_AXIS]
char	bcompdir [EMCMOT_MAX_AXIS]
double	bcompincr [EMCMOT_MAX_AXIS]
char	bac_done [EMCMOT_MAX_AXIS]
double	bac_d [EMCMOT_MAX_AXIS]
double	bac_di [EMCMOT_MAX_AXIS]
double	bac_D [EMCMOT_MAX_AXIS]
double	bac_halfD [EMCMOT_MAX_AXIS]
double	bac_incrincr [EMCMOT_MAX_AXIS]
double	bac_incr [EMCMOT_MAX_AXIS]
unsigned char	tail

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Field Documentation

unsigned char EMCMOT_DEBUG::allHomed

Definition at line 493 of file emcmot.h.

int EMCMOT_DEBUG::ampFaultCount[EMCMOT_MAX_AXIS]

Definition at line 500 of file emcmot.h.

double EMCMOT_DEBUG::bac_D[EMCMOT_MAX_AXIS]

Definition at line 590 of file emcmot.h.

double EMCMOT_DEBUG::bac_d[EMCMOT_MAX_AXIS]

Definition at line 588 of file emcmot.h.

double EMCMOT_DEBUG::bac_di[EMCMOT_MAX_AXIS]

Definition at line 589 of file emcmot.h.

char EMCMOT_DEBUG::bac_done[EMCMOT_MAX_AXIS]

Definition at line 587 of file emcmot.h.

double EMCMOT_DEBUG::bac_halfD[EMCMOT_MAX_AXIS]

Definition at line 591 of file emcmot.h.

double EMCMOT_DEBUG::bac_incr[EMCMOT_MAX_AXIS]

Definition at line 593 of file emcmot.h.

double EMCMOT_DEBUG::bac_incrincr[EMCMOT_MAX_AXIS]

Definition at line 592 of file emcmot.h.

double EMCMOT_DEBUG::bcomp[EMCMOT_MAX_AXIS]

Definition at line 584 of file emcmot.h.

char EMCMOT_DEBUG::bcompdir[EMCMOT_MAX_AXIS]

Definition at line 585 of file emcmot.h.

double EMCMOT_DEBUG::bcompincr[EMCMOT_MAX_AXIS]

Definition at line 586 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::bigVel[EMCMOT_MAX_AXIS]

Definition at line 539 of file emcmot.h.

double EMCMOT_DEBUG::coarseJointPos[EMCMOT_MAX_AXIS]

Definition at line 523 of file emcmot.h.

int EMCMOT_DEBUG::coordinating

Definition at line 546 of file emcmot.h.

CUBIC_STRUCT EMCMOT_DEBUG::cubic[EMCMOT_MAX_AXIS]

Definition at line 512 of file emcmot.h.

double EMCMOT_DEBUG::cur_time

Definition at line 580 of file emcmot.h.

int EMCMOT_DEBUG::enable[EMCMOT_MAX_AXIS]

Definition at line 483 of file emcmot.h.

int EMCMOT_DEBUG::enabling

Definition at line 545 of file emcmot.h.

double EMCMOT_DEBUG::fAvg

Definition at line 459 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fMax

Definition at line 459 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fMin

Definition at line 459 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::fMmxavg

Definition at line 568 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 575 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::ferrorCurrent[EMCMOT_MAX_AXIS]

Definition at line 463 of file emcmot.h. Referenced by emcAxisUpdate(), and usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::ferrorHighMark[EMCMOT_MAX_AXIS]

Definition at line 464 of file emcmot.h. Referenced by emcAxisUpdate(), and usrmotPrintEmcmotDebug().

TP_STRUCT EMCMOT_DEBUG::freeAxis[EMCMOT_MAX_AXIS]

Definition at line 507 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

TC_STRUCT EMCMOT_DEBUG::freeAxisTcSpace[EMCMOT_MAX_AXIS][FREE_AXIS_QUEUE_SIZE]

Definition at line 518 of file emcmot.h.

EmcPose EMCMOT_DEBUG::freePose

Definition at line 511 of file emcmot.h.

double EMCMOT_DEBUG::fyAvg

Definition at line 460 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fyMax

Definition at line 460 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fyMin

Definition at line 460 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::fyMmxavg

Definition at line 569 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::fyMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 576 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

unsigned char EMCMOT_DEBUG::head

Definition at line 454 of file emcmot.h. Referenced by usrmotReadEmcmotDebug().

int EMCMOT_DEBUG::homingPhase[EMCMOT_MAX_AXIS]

Definition at line 541 of file emcmot.h.

int EMCMOT_DEBUG::idForStep

Definition at line 561 of file emcmot.h.

double EMCMOT_DEBUG::inverseInputScale[EMCMOT_MAX_AXIS]

Definition at line 532 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::inverseOutputScale[EMCMOT_MAX_AXIS]

Definition at line 533 of file emcmot.h.

double EMCMOT_DEBUG::jointHome[EMCMOT_MAX_AXIS]

Definition at line 496 of file emcmot.h.

double EMCMOT_DEBUG::jointPos[EMCMOT_MAX_AXIS]

Definition at line 524 of file emcmot.h.

double EMCMOT_DEBUG::jointVel[EMCMOT_MAX_AXIS]

Definition at line 525 of file emcmot.h.

double EMCMOT_DEBUG::last_time

Definition at line 581 of file emcmot.h.

int EMCMOT_DEBUG::latchFlag[EMCMOT_MAX_AXIS]

Definition at line 542 of file emcmot.h.

int EMCMOT_DEBUG::maxLimitSwitchCount[EMCMOT_MAX_AXIS]

Definition at line 498 of file emcmot.h.

int EMCMOT_DEBUG::minLimitSwitchCount[EMCMOT_MAX_AXIS]

Definition at line 499 of file emcmot.h.

double EMCMOT_DEBUG::nAvg

Definition at line 457 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::nMax

Definition at line 457 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::nMin

Definition at line 457 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::nMmxavg

Definition at line 566 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::nMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 573 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

EmcPose EMCMOT_DEBUG::newAcc

Definition at line 536 of file emcmot.h.

EmcPose EMCMOT_DEBUG::newVel

Definition at line 535 of file emcmot.h.

double EMCMOT_DEBUG::oldInput[EMCMOT_MAX_AXIS]

Definition at line 528 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

char EMCMOT_DEBUG::oldInputValid[EMCMOT_MAX_AXIS]

Definition at line 529 of file emcmot.h.

double EMCMOT_DEBUG::oldJointPos[EMCMOT_MAX_AXIS]

Definition at line 526 of file emcmot.h.

EmcPose EMCMOT_DEBUG::oldPos

Definition at line 534 of file emcmot.h.

EmcPose EMCMOT_DEBUG::oldVel

Definition at line 535 of file emcmot.h.

int EMCMOT_DEBUG::onLimit

Definition at line 554 of file emcmot.h.

double EMCMOT_DEBUG::outJointPos[EMCMOT_MAX_AXIS]

Definition at line 527 of file emcmot.h.

int EMCMOT_DEBUG::overriding

Definition at line 557 of file emcmot.h.

int EMCMOT_DEBUG::pdmult[EMCMOT_MAX_AXIS]

Definition at line 482 of file emcmot.h.

TP_STRUCT EMCMOT_DEBUG::queue

Definition at line 502 of file emcmot.h.

TC_STRUCT EMCMOT_DEBUG::queueTcSpace[DEFAULT_TC_QUEUE_SIZE + 10]

Definition at line 516 of file emcmot.h.

double EMCMOT_DEBUG::rawInput[EMCMOT_MAX_AXIS]

Definition at line 520 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::rawOutput[EMCMOT_MAX_AXIS]

Definition at line 521 of file emcmot.h.

double EMCMOT_DEBUG::running_time

Definition at line 579 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::sAvg

Definition at line 456 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::sMax

Definition at line 456 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::sMin

Definition at line 456 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::sMmxavg

Definition at line 565 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::sMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 572 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::saveLatch[EMCMOT_MAX_AXIS]

Definition at line 543 of file emcmot.h.

int EMCMOT_DEBUG::split

Definition at line 465 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::start_time

Definition at line 578 of file emcmot.h.

int EMCMOT_DEBUG::stepperCount[EMCMOT_MAX_AXIS]

Definition at line 470 of file emcmot.h.

int EMCMOT_DEBUG::stepping

Definition at line 560 of file emcmot.h.

double EMCMOT_DEBUG::tAvg

Definition at line 455 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::tMax

Definition at line 455 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::tMin

Definition at line 455 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::tMmxavg

Definition at line 564 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::tMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 571 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

unsigned char EMCMOT_DEBUG::tail

Definition at line 595 of file emcmot.h. Referenced by usrmotReadEmcmotDebug().

EMC_TELEOP_DATA EMCMOT_DEBUG::teleop_data

Definition at line 462 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

int EMCMOT_DEBUG::teleoperating

Definition at line 547 of file emcmot.h.

int EMCMOT_DEBUG::wasOnLimit

Definition at line 549 of file emcmot.h.

int EMCMOT_DEBUG::wdCount

Definition at line 489 of file emcmot.h.

int EMCMOT_DEBUG::wdEnabled

Definition at line 487 of file emcmot.h.

int EMCMOT_DEBUG::wdEnabling

Definition at line 486 of file emcmot.h.

unsigned char EMCMOT_DEBUG::wdToggle

Definition at line 490 of file emcmot.h.

int EMCMOT_DEBUG::wdWait

Definition at line 488 of file emcmot.h.

double EMCMOT_DEBUG::yAvg

Definition at line 458 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::yMax

Definition at line 458 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::yMin

Definition at line 458 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

MMXAVG_STRUCT EMCMOT_DEBUG::yMmxavg

Definition at line 567 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

double EMCMOT_DEBUG::yMmxavgSpace[DEFAULT_MMXAVG_SIZE]

Definition at line 574 of file emcmot.h. Referenced by usrmotPrintEmcmotDebug().

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The documentation for this struct was generated from the following file:

• emcmot.h

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