Introduction
The attached example shows how to execute a point-to-point move with the Cool Muscle. The code will work for both a CM1 and CM2. It uses a standard serial port connection to the motor and executes the direct move commands. The following CML is used
-
P0 - Target position
-
S0 - Target speed
-
A0 - Target acceleration
-
M0 - % Peak torque
-
^ - Start move
-
] - Stop move
Code
The following code shows the key start and stop function
Start Function
C#
private void button_Start_Click(object sender, EventArgs e)
{
/* Run the motor using the dynamic move structure
* Set P0, S0, A0 and M0. Then start the motor with the ^ command
* We assume a single motor in this example so use the .1 ID
* P, S, A and M are separated with a comma (,)
* All instructions must be appended with a carriage return
*/
String sSend;
sSend = "P0.1=" + textBox_Position.Text +
",S0.1=" + textBox_Speed.Text +
",A0.1=" + textBox_Acceleration.Text +
",M0.1=" + textBox_Torque.Text +
"\r";
//write the registers data
serialPort.Write(sSend);
//start the motor
serialPort.Write("^.1\r");
}
Stop Function
C#
private void button_Stop_Click(object sender, EventArgs e)
{
/* Stop the motor with the ] command.
* We assume a single motor in this example so use the .1 ID
* All commands must be appended with a carriage return
*/
serialPort.Write("].1\r");
}