DECLARE SUB sxmoving ()
DECLARE SUB sxformatv (num!, num$)
DECLARE SUB sxformata (num!, num$)
DECLARE SUB sxformat (num!, num$)
DECLARE SUB sxerr ()
DECLARE SUB rs232in (msg$)
DECLARE SUB rs232out (msg$)

'****************************************************************************
'This module contains subroutines to control a Compumotor stepping motor
'with an SX indexer/drive with RS232 interface.
'
'Zachary Wolf
'12/16/97
'****************************************************************************

'Module level parameters
COMMON SHARED /sxdrive/ sxrs232addrP$, ccwsoftlimitP$, cwsoftlimitP$, limitdecelP$, accelP$, decelP$, velP$

'Semi-permanent parameters
CONST nstepsperrevP& = 25000      'motor steps
CONST sxrs232openparP$ = "COM2:9600,N,8,1,ASC,RS,CD0,CS0,DS0"

SUB sxerr

'****************************************************************************
'This subroutine reports any errors from the SX indexer.
'
'Zachary Wolf
'1/6/98
'****************************************************************************

END SUB

SUB sxformata (num!, num$)

'***************************************************************************
'This subroutine formats numbers for the SX drive.
'
'Input:
' num!, number to format
'
'Output:
' num$, formatted number in a string
'
'Zachary Wolf
'1/14/98
'***************************************************************************

'Open a temporary file to write to
filenum% = FREEFILE
OPEN "temp.tmp" FOR OUTPUT AS #filenum%

'Output the number
PRINT #filenum%, USING "####.##"; num!

'Close the file
CLOSE filenum%

'Open the temporary file to read
filenum% = FREEFILE
OPEN "temp.tmp" FOR INPUT AS #filenum%

'Input the number into a string
INPUT #filenum%, strnum$

'Close the file
CLOSE filenum%

'Delete the temporary file
SHELL "del temp.tmp"

'Return the number in a string
num$ = LTRIM$(RTRIM$(strnum$))

END SUB

SUB sxformatv (num!, num$)

'***************************************************************************
'This subroutine formats numbers for the SX drive.
'
'Input:
' num!, number to format
'
'Output:
' num$, formatted number in a string
'
'Zachary Wolf
'1/14/98
'***************************************************************************

'Open a temporary file to write to
filenum% = FREEFILE
OPEN "temp.tmp" FOR OUTPUT AS #filenum%

'Output the number
PRINT #filenum%, USING "##.#####"; num!

'Close the file
CLOSE filenum%

'Open the temporary file to read
filenum% = FREEFILE
OPEN "temp.tmp" FOR INPUT AS #filenum%

'Input the number into a string
INPUT #filenum%, strnum$

'Close the file
CLOSE filenum%

'Delete the temporary file
SHELL "del temp.tmp"

'Return the number in a string
num$ = LTRIM$(RTRIM$(strnum$))

END SUB

SUB sxgetencpos (dlines&)

'****************************************************************************
'This subroutine reports the encoder position in encoder lines from zero.
'Positive dlines& corresponds to CW rotations.  Negative dlines& corresponds
'to CCW rotations.
'
'Output:
' dlines&, encoder position in lines from zero (+ CW, - CCW)
'
'Zachary Wolf
'12/18/97
'****************************************************************************

END SUB

SUB sxgetinputs (inputs$)

'****************************************************************************
'This subroutine gets the state of the inputs to the SX indexer.
'
'Output:
' inputs$, state of the inputes to the SX indexer
'
'Zachary Wolf
'12/16/97
'****************************************************************************

END SUB

SUB sxgetmotpos (d!)

'****************************************************************************
'This subroutine reports the motor position d! in revolutions from zero.
'Positive d! corresponds to CW rotations.  Negative d! corresponds to
'CCW rotations.
'
'Output:
' d!, motor position in revolutions from zero (+ CW, - CCW)
'
'Zachary Wolf
'12/16/97
'****************************************************************************

END SUB

SUB sxgohome

'****************************************************************************
'This subroutine has the SX motor go the the home position.
'
'Zachary Wolf
'12/17/97
'****************************************************************************

'Go home
CALL rs232out(sxrs232addrP$ + "GH")

END SUB

SUB sxinit

'****************************************************************************
'This subroutine initializes the Compumotor SX indexer/drive.
'
'Zachary Wolf
'12/15/97
'****************************************************************************

'Message
PRINT
PRINT "Resetting SX indexer/drive;;;"

END SUB

SUB sxmoveabs (d!)

'****************************************************************************
'This subroutine has the motor turn to position d! revolutions from zero.
'Positive d! is in the clockwise direction.  Negative d! is in the
'counterclockwise direction.
'
'Input:
' d!, number of revolutions to turn to (+ CW, - CCW)
'
'Zachary Wolf
'12/16/97
'****************************************************************************

END SUB

SUB sxmoverel (d!)

'****************************************************************************
'This subroutine has the motor turn d! revolutions.  Positive d! gives
'clockwise rotation.  Negative d! gives counterclockwise rotation.
'
'Input:
' d!, number of revolutions to turn (+ CW, - CCW)
'
'Zachary Wolf
'12/16/97
'****************************************************************************

END SUB

SUB sxmoving

'****************************************************************************
'This subroutine delays program execution until a move is over.
'
'Zachary Wolf
'1/14/98
'****************************************************************************

END SUB

SUB sxsetaddr (rs232addr$)

'****************************************************************************
'This subroutine sets the RS232 address the SX drive sends commands to.
'
'Input:
' rs232addr$, indexer address (1 to 16)
'
'Zachary Wolf
'1/15/98
'****************************************************************************

'Set the parameters
sxrs232addrP$ = rs232addr$

END SUB

SUB sxsetpar (rs232addr$, ccwsoftlimit!, cwsoftlimit!, limitdecel!, accel!, decel!, vel!)

'****************************************************************************
'This subroutine sets parameters for the SXDRIVE module.
'
'Input:
' rs232addr$, indexer address (1 to 16)
' ccwsoftlimit!, CCW software motion limit (rev)
' cwsoftlimit!, CW software motion limit (rev)
' limitdecel!, deceleration when a limit is reached (rps^2)
' accel!, acceleration (rps^2)
' decel!, deceleration (rps^2)
' vel!, velocity (rps)
'
'Zachary Wolf
'12/15/97
'****************************************************************************

'Set the parameters
sxrs232addrP$ = rs232addr$
ccwsoftlimitP$ = LTRIM$(STR$(FIX(ccwsoftlimit! * nstepsperrevP&)))
cwsoftlimitP$ = LTRIM$(STR$(FIX(cwsoftlimit! * nstepsperrevP&)))

IF limitdecel! > 0! THEN
 CALL sxformata(limitdecel!, limitdecel$)
 limitdecelP$ = limitdecel$
ELSE
 PRINT "SXSETPAR: problem with limitdecel!"
END IF

IF accel! > 0! THEN
 CALL sxformata(accel!, accel$)
 accelP$ = accel$
ELSE
 PRINT "SXSETPAR: problem with accel!"
END IF

IF decel! > 0! THEN
 CALL sxformata(decel!, decel$)
 decelP$ = decel$
ELSE
 PRINT "SXSETPAR: problem with decel!"
END IF

IF vel! > 0! THEN
 CALL sxformatv(vel!, vel$)
 velP$ = vel$
ELSE
 PRINT "SXSETPAR: problem with vel!"
END IF

END SUB

SUB sxzero

'****************************************************************************
'This subroutine zeros the motor step counter and the absolute encoder
'position counter.
'
'Zachary Wolf
'12/17/97
'****************************************************************************

END SUB