Robotcode
1.0
|
Handles all communication with the s626 boards. More...
#include <S626sManager.h>
Public Member Functions | |
void | init (string configfile) |
Initialize the boards under a certain config file. | |
void | initCounter (int c, int board=0) |
Initializes c as Quad counter with Index. | |
void | initTTLCounter (int c, int board=0) |
Initializes c as a single phase TTL counter. | |
void | initTimer (int c, int board=0) |
Initializes c as timer. | |
void | initOverflow (int c, int board=0) |
Initializes c as overflow timer. | |
void | initInterrupt (void(*fcn)(void), int updateR) |
Initializes interrupt and starts. | |
void | stopInterrupt () |
stop the interrupt routine | |
long | getCounter (int c, int board=0) |
Get result from couters. | |
void | resetCounter (int c, int board=0) |
resets the counter to preload register (0) | |
double | getTime (int low=CNTR_1A, int high=CNTR_1B) |
Get absolute time in ms (counter 1A/1B) | |
void | resetTime (int low=CNTR_1A, int high=CNTR_1B) |
reset time to zero (counter 1A/1B) | |
int | getErrorState () |
get error state | |
double | getUpdateRate () |
returns update rate in ms | |
double | getAD (int c, int board=0) |
returns value for AD in voltage | |
int | registerAD (int c, int range, int board=0) |
puts an AD-channel on the poll-list | |
void | updateAD (int board=0) |
pulls all registered AD channels | |
void | outDA (int channel, double volts, int board=0) |
Put voltage on outDA. | |
void | outDIO (int channel, short state, int board=0) |
Put state(1/0) on DIO. | |
unsigned int | readDIO (int channel, int board) |
read DIO | |
Friends | |
void | AppISR () |
Primary callback function which call updateCallback. |
Handles all communication with the s626 boards.
Manages the resources of one or more S626 board. You should never have to talk to the dll directly. The class does allocation and low level interrupt handling so that multiple devices cannot conflict in their resource allocation.