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Commit 30cb868

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Iordanis Kostelidis
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0 parents  commit 30cb868

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‎Clean.m‎

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delete *.mexa64
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delete *.mexa32
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delete *.mexw32
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delete *.mexw64

‎ClearErrorState.c‎

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/* This a library for communication with Maxon Motors EPOS2 motor controllers
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* using MATLAB.
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*
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* Copyright, Eugenio Yime Rodr�guez, 2015
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*
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*/
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#include "mex.h"
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#include "Definitions.h"
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#ifdef _LINUX_
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#include "Win2Linux.h"
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#endif
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void
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mexFunction(int nlhs,mxArray *plhs[],int nrhs,const mxArray *prhs[])
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{
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DWORD ErrCode = 0;
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HANDLE mHandle;
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WORD NodeID;
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long lHandle;
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char ErrorInfo[255];
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/* Examine input (right-hand-side) arguments. */
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if (nrhs != 2) {
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mexPrintf("Error: this function should be use with two input arguments\n");
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return;
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}
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/* Check first input */
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if (mxGetM(prhs[0]) != 1 || mxGetM(prhs[0]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Check second input */
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if (mxGetM(prhs[1]) != 1 || mxGetM(prhs[1]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Examine output (left-hand-side) arguments. */
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if (nlhs > 1) {
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mexPrintf("Error: this function should be use with only one output argument\n");
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return;
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}
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/* create output matrix */
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plhs[0] = mxCreateDoubleScalar(0.0);
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/* first input */
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lHandle = (long) *mxGetPr(prhs[0]);
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mHandle = LongToHandle(lHandle);
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/* second input */
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NodeID = (WORD) *mxGetPr(prhs[1]);
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/* Clear error device */
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if (!VCS_ClearFault(mHandle, NodeID, &ErrCode)) {
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VCS_GetErrorInfo(ErrCode, ErrorInfo, 255);
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mexPrintf("Error: %s \n", ErrorInfo);
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*mxGetPr(plhs[0]) = 1;
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}
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}

‎ClearErrorState.m‎

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function res = ClearErrorState(handle, nodeid)
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% This function clears the error state for epos2 with number nodeid
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%
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% Call it as,
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%
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% res = ClearErorrState(handle, nodeid)
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%
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% Where:
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%
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% res is a number, 0 (zero) if it works, a negative number if not
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%
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% handle is the handle returned by OpenCommunication
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%
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% nodeid is the id number for EPOS 2 controller
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%
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% Copyright E. Yime, 2015.
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% Colombia
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%

‎CloseCommunication.c‎

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/* This a library for communication with Maxon Motors EPOS2 motor controllers
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* using MATLAB.
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*
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* Copyright, Eugenio Yime Rodr�guez, 2015
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*
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*/
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#include "mex.h"
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#include "Definitions.h"
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#ifdef _LINUX_
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#include "Win2Linux.h"
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#endif
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void
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mexFunction(int nlhs,mxArray *plhs[],int nrhs,const mxArray *prhs[])
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{
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DWORD ErrCode = 0;
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BOOL Output = FALSE;
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HANDLE mHandle;
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WORD NodeID;
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long lHandle;
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char ErrorInfo[255];
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/* Examine input (right-hand-side) arguments. */
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if (nrhs != 1) {
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mexPrintf("Error: this function should be use with one input arguments\n");
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return;
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}
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/* Check first input */
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if (mxGetM(prhs[0]) != 1 || mxGetM(prhs[0]) != 1 ) {
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mexPrintf("Error: this function requires one input scalar\n");
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return;
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}
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/* create output matrix */
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plhs[0] = mxCreateDoubleScalar(0.0);
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/* first input */
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lHandle = (long) *mxGetPr(prhs[0]);
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mHandle = LongToHandle(lHandle);
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/* Close Device */
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Output = VCS_CloseDevice(mHandle, &ErrCode);
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if (ErrCode) {
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VCS_GetErrorInfo(ErrCode, ErrorInfo, 255);
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mexPrintf("Error: %s \n", ErrorInfo);
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*mxGetPr(plhs[0]) = 1;
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}
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}

‎CloseCommunication.m‎

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function res = CloseCommunication(handle)
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% This function close the communication with EPOS2 controller through USB
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%
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% Call it as,
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%
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% res = CloseCommunication(handle)
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%
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% Where:
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%
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% res is a number, 0 (zero) if it works, a negative number if not
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%
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% handle is the handle returned by OpenCommunication
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%
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% Copyright E. Yime, 2015.
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% Colombia
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%

‎DisableNode.c‎

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/* This a library for communication with Maxon Motors EPOS2 motor controllers
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* using MATLAB.
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*
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* Copyright, Eugenio Yime Rodr�guez, 2015
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*
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*/
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#include "mex.h"
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#include "Definitions.h"
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#ifdef _LINUX_
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#include "Win2Linux.h"
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#endif
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void
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mexFunction(int nlhs,mxArray *plhs[],int nrhs,const mxArray *prhs[])
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{
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DWORD ErrCode = 0;
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BOOL Fault = FALSE;
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HANDLE mHandle;
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WORD NodeID;
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long lHandle;
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int IdMode;
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char ErrorInfo[255];
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/* Examine input (right-hand-side) arguments. */
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if (nrhs != 2) {
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mexPrintf("Error: this function should be use with two input arguments\n");
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return;
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}
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/* Check first input, handle */
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if (mxGetM(prhs[0]) != 1 || mxGetM(prhs[0]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Check second input, nodeID */
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if (mxGetM(prhs[1]) != 1 || mxGetM(prhs[1]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Examine output (left-hand-side) arguments. */
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if (nlhs > 1) {
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mexPrintf("Error: this function should be use with only one output argument\n");
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return;
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}
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/* create output matrix */
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plhs[0] = mxCreateDoubleScalar(0.0);
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/* first input */
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lHandle = (long) *mxGetPr(prhs[0]);
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mHandle = LongToHandle(lHandle);
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/* second input */
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NodeID = (WORD) *mxGetPr(prhs[1]);
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/* Set State to Disable */
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if (!VCS_SetDisableState(mHandle, NodeID, &ErrCode)) {
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VCS_GetErrorInfo(ErrCode, ErrorInfo, 255);
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mexPrintf("Error: %s \n", ErrorInfo);
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*mxGetPr(plhs[0]) = 1;
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}
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}

‎DisableNode.m‎

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function res = DisableNode(handle, nodeid)
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% This function disable the node, so the motor will be unpowered and
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% uncontrolled.
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%
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% Call it as,
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%
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% res = DisableNode(handle, nodeid)
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%
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% Where:
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%
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% res is a number, 0 (zero) if it works, a negative number if not
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%
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% handle is the handle returned by OpenCommunication
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%
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% nodeid is the EPOS 2 node ID
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%
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% Copyright E. Yime, 2015.
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% Colombia
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%

‎EnableNode.c‎

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/* This a library for communication with Maxon Motors EPOS2 motor controllers
2+
* using MATLAB.
3+
*
4+
* Copyright, Eugenio Yime Rodr�guez, 2015
5+
*
6+
*/
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#include "mex.h"
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#include "Definitions.h"
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11+
#ifdef _LINUX_
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#include "Win2Linux.h"
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#endif
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void
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mexFunction(int nlhs,mxArray *plhs[],int nrhs,const mxArray *prhs[])
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{
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DWORD ErrCode = 0;
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BOOL Fault = FALSE;
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HANDLE mHandle;
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WORD NodeID;
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long lHandle;
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int IdMode;
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char ErrorInfo[255];
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/* Examine input (right-hand-side) arguments. */
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if (nrhs != 2) {
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mexPrintf("Error: this function should be use with two input arguments\n");
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return;
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}
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/* Check first input, handle */
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if (mxGetM(prhs[0]) != 1 || mxGetM(prhs[0]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Check second input, nodeID */
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if (mxGetM(prhs[1]) != 1 || mxGetM(prhs[1]) != 1 ) {
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mexPrintf("Error: this function requires two input scalar\n");
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return;
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}
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/* Examine output (left-hand-side) arguments. */
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if (nlhs > 1) {
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mexPrintf("Error: this function should be use with only one output argument\n");
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return;
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}
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/* create output matrix */
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plhs[0] = mxCreateDoubleScalar(0.0);
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/* first input */
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lHandle = (long) *mxGetPr(prhs[0]);
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mHandle = LongToHandle(lHandle);
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/* second input */
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NodeID = (WORD) *mxGetPr(prhs[1]);
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/* Set Node to Enable */
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if (!VCS_SetEnableState(mHandle, NodeID, &ErrCode)) {
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VCS_GetErrorInfo(ErrCode, ErrorInfo, 255);
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mexPrintf("Error: %s \n", ErrorInfo);
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*mxGetPr(plhs[0]) = 1;
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}
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}

‎EnableNode.m‎

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function res = EnableNode(handle, nodeid)
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% This function enable a EPOS 2 node, so the motor will be powered and
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% controlled.
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%
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% Call it as,
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%
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% res = EnableNode(handle, nodeid)
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%
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% Where:
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%
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% res is a number, 0 (zero) if it works, a negative number if not
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%
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% handle is the handle returned by OpenCommunication
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%
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% nodeid is the EPOS 2 ID
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%
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% Copyright E. Yime, 2015.
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% Colombia
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%

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