National Instruments NI-Motion User Manual

Page 104

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Chapter 7

Contoured Moves

NI-Motion User Manual

7-8

ni.com

for

(i=0;i

downloadData[i] = points[currentDataPoint++];

}

err = flex_write_buffer(boardID, 1/*buffer number*/,

bufferSize, NIMC_REGENERATION_NO_CHANGE,

downloadData, 0xFF);

free(downloadData);

downloadData = NULL;

CheckError;

// Start Motion

err = flex_start(boardID, vectorSpace, 0);

CheckError;

for

(;;){

axisStatus = 0;

// Check for available space and download

remaining points // every 50 milliseconds

Sleep(50);

// Check to see if there are more points to

download

if

(currentDataPoint < numPoints){

err = flex_check_buffer_rtn(boardID,

1/*buffer number*/, &backlog,

&bufferState, &pointsDone);

CheckError;

if

(backlog >= 300){

downloadData =

malloc(sizeof(i32)*backlog);

dataCopied = 0;

for

(i=0;i

if

(currentDataPoint >

numPoints) break;

downloadData[i] =

points[currentDataPoint++];

dataCopied++;

}

err = flex_write_buffer (boardID, 1

/*buffer number*/, dataCopied,

NIMC_REGENERATION_NO_CHANGE,

downloadData, 0xFF);

free(downloadData);

downloadData = NULL;