//--------------------------------------------------------------------
// Demo Program(DEMO100.cpp) for i-8094 Motion Card
//--------------------------------------------------------------------  
//--------------------------
// v1.1  2005/6/20
//---------------------------

#include <dos.h>
#include <math.h>
#include "8000.h"
#include "I8094.h" 
 
BYTE cardNo; 
long  x_value, y_value, z_value, u_value;

//--------------------------------------------------------------------
void main ()
{
	//=================== I-8000 =================== 
	//Set (slot0~slot7) = cardNO (1~8)ĄC
	BYTE slot;
	slot = 0;
	cardNo = 1;
	i8094MF_REGISTRATION(cardNo, slot);
	i8094MF_INIT_CARD(cardNo);
	i8094MF_SET_PULSE_MODE(cardNo, AXIS_XYZU, 2);
	i8094_IN3_LEVEL(cardNo,AXIS_XYZU, 1);
	i8094MF_SET_ALARM(cardNo, AXIS_XYZU, 1, 1); 
    i8094MF_SET_ENCODER(cardNo, AXIS_XYZU, 0, 0, 0);  
    i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 16000);  
 	
	//==========================================================================
	BYTE ret1 = 0;
	BYTE chkey;
	DWORD sv;	//PPS
	DWORD v;	//PPS
	DWORD a;	//PPS/s
	i8094MF_SERVO_ON(cardNo, AXIS_XYZU);
	do
	{ 
		Print(" (0:Exit, 1:HELIX_3D_1, 2:HELIX_3D_2, 3:RATIO, 4:FRnet output, 5:FRnet input) \r\n");
		Print(" (6:Reset Encoder, 7:Stop, 8:Clear Error) \r\n");
		Print(" (X:Jog X, Y:Jog Y, Z:Jog Z, U:Jog U, S:Stop Jog) \r\n");
		Print("\n");
		Print("----------------------LOGIC AND REAL POSITION COUNTER----------------------\n");
		x_value = i8094MF_GET_LP(cardNo, AXIS_X);
		y_value = i8094MF_GET_LP(cardNo, AXIS_Y);
		z_value = i8094MF_GET_LP(cardNo, AXIS_Z);
		u_value = i8094MF_GET_LP(cardNo, AXIS_U);
		Print("LOGIC POSITION: x=%10ld,  y= %10ld, z= %10ld, u=%10ld \r\n", x_value, y_value, z_value, u_value);
		x_value = i8094MF_GET_EP(cardNo, AXIS_X);
		y_value = i8094MF_GET_EP(cardNo, AXIS_Y);
		z_value = i8094MF_GET_EP(cardNo, AXIS_Z);
		u_value = i8094MF_GET_EP(cardNo, AXIS_U);
		Print("REAL POSITION:  x=%10ld,  y= %10ld, z= %10ld, u=%10ld \r\n", x_value, y_value, z_value, u_value);

		while (!Kbhit());
		chkey=Getch();
		Print("%s\r\n",&chkey);
		switch (chkey)
		{
			case '0':
						i8094MF_RESET_CARD(cardNo);
						Print("EXIT! \r\n");
	 					return;
			//---------------------------------------------------------------
			case '1':	
						v=50000;//PPSĄC
						i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L);
						ret1=i8094MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_X, 1, v, 0, 1000, 5, -2000);
						Delay(1000);
						Print("HELIX_3D_1 ! \r\n");
						Print("ret1= %d \r\n",ret1);
						break;
			//---------------------------------------------------------------
			case '2':	
						v=100000;//PPSĄC
						i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,1600000L);
						ret1=i8094MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_U, 1, v, 0, 25000, 10, 3600);
						Delay(2000);
						Print("HELIX_3D_2 ! \r\n");
						Print("ret1= %d \r\n",ret1);
		 				break;
			//---------------------------------------------------------------
			case '3':	
						sv=300;//PPSĄC
						v=30000;//PPSĄC
						a=500000;//PPS/sĄC 
						int loop1;
						int loop2;
						float ratio;
						i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L);
						Print("RATIO_2D ratio ? \r\n");
						Scanf("%f", &ratio);
						Print("ratio= %f \r\n",ratio);
						i8094MF_RATIO_INITIAL(cardNo,AXIS_U, AXIS_X, sv, v, a, ratio); 
						for (loop2 = 0; loop2 < 5; loop2++)
						{
							for (loop1 = 0; loop1 < 5; loop1++)
							{
								i8094MF_RATIO_2D(cardNo, 0, 3600, 0);
								i8094MF_RATIO_2D(cardNo, 0, 3600, 1);
							}
							i8094MF_RATIO_2D(cardNo, 0, 7200, 0);
							i8094MF_RATIO_2D(cardNo, 0, 3600, 1);
						}
						i8094MF_RATIO_2D(cardNo, 1, 7200, 1); 
						Delay(3000);
						Print("RATIO_2D OK ! \r\n");
		 				break;
			//---------------------------------------------------------------
			case '4':
						WORD wSA;
						WORD data;
						Print("FRnet wSA ? \r\n");
						Scanf("%d", &wSA);
						Print("FRnet 16 bits data ? \r\n");
						Scanf("%d", &data);
						i8094MF_FRNET_SA(cardNo, wSA, data);
		 				break;
			//---------------------------------------------------------------
			case '5':
						WORD wRA;
						Print("FRnet wRA ? \r\n");
						Scanf("%d", &wRA); 
						long data1 = i8094MF_FRNET_RA(cardNo, wRA);
						Print("FRnet 16 bits data = %10ld \r\n", data1);
		 				break; 
			//---------------------------------------------------------------
			case '6':
						i8094MF_SET_LP(cardNo, AXIS_XYZU, 0);
						i8094MF_SET_EP(cardNo, AXIS_XYZU, 0);  
						Print("RESET Encoder ! \r\n");
						break;
			//---------------------------------------------------------------
			case '7':
						i8094MF_STOP_SLOWLY(cardNo, AXIS_XYZU);
						Print("STOP! \r\n");
						break;
			//---------------------------------------------------------------
			case '8':
						i8094MF_CLEAR_STOP(cardNo);
						Print("CLEAR ERROR ! \r\n");
						break;
			//---------------------------------------------------------------
			case 88:
			case 120:
						BYTE m_Axis=AXIS_X;
						i8094MF_SET_MAX_V(cardNo, m_Axis, 32000);
						i8094MF_NORMAL_SPEED(cardNo, m_Axis, 0);	//set axis as Symmetrical T curve mode
						i8094MF_SET_A(cardNo, m_Axis, 50000);		//set Acc =50000 PPS/S
						i8094MF_SET_V(cardNo, m_Axis, 50000);
						i8094MF_EXD_MP(cardNo, AXIS_X, 100);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Y);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Z);
						i8094MF_EXD_DISABLE(cardNo, AXIS_U);
						break;
			//---------------------------------------------------------------
			case 89:
			case 121:
						m_Axis=AXIS_Y;
						i8094MF_SET_MAX_V(cardNo, m_Axis, 32000);
						i8094MF_NORMAL_SPEED(cardNo, m_Axis, 0);	//set axis as Symmetrical T curve mode
						i8094MF_SET_A(cardNo, m_Axis, 50000);		//set Acc =50000 PPS/S
						i8094MF_SET_V(cardNo, m_Axis, 100000);
						i8094MF_EXD_MP(cardNo, AXIS_Y, 100);
						i8094MF_EXD_DISABLE(cardNo, AXIS_X);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Z);
						i8094MF_EXD_DISABLE(cardNo, AXIS_U);
						break;
			//---------------------------------------------------------------
			case 90:
			case 122:
						m_Axis=AXIS_Z;
						i8094MF_SET_MAX_V(cardNo, m_Axis, 32000);
						i8094MF_NORMAL_SPEED(cardNo, m_Axis, 0);	//set axis as Symmetrical T curve mode
						i8094MF_SET_A(cardNo, m_Axis, 50000);		//set Acc =50000 PPS/S
						i8094MF_SET_V(cardNo, m_Axis, 10000);
						i8094MF_EXD_MP(cardNo, AXIS_Z, 100);
						i8094MF_EXD_DISABLE(cardNo, AXIS_X);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Y);
						i8094MF_EXD_DISABLE(cardNo, AXIS_U);
						break;
			//---------------------------------------------------------------
			case 85:
			case 117:
						m_Axis=AXIS_U;
						i8094MF_SET_MAX_V(cardNo, m_Axis, 32000);
						i8094MF_NORMAL_SPEED(cardNo, m_Axis, 0);	//set axis as Symmetrical T curve mode
						i8094MF_SET_A(cardNo, m_Axis, 50000);		//set Acc =50000 PPS/S
						i8094MF_SET_V(cardNo, m_Axis, 10000);
						i8094MF_EXD_MP(cardNo, AXIS_U, 5);
						i8094MF_EXD_DISABLE(cardNo, AXIS_X);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Y);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Z);
						break;
			//---------------------------------------------------------------
			case 83:
			case 115:
						i8094MF_EXD_DISABLE(cardNo, AXIS_X);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Y);
						i8094MF_EXD_DISABLE(cardNo, AXIS_Z);
						i8094MF_EXD_DISABLE(cardNo, AXIS_U);
						break;
			//---------------------------------------------------------------
			default:
						break;
		}
	} while (1);
}