Delta RMC151 User Manual
Page 388
RMC70/150 and RMCTools User Manual
MyPos
:=
Avg4
(
_Axis[0].ActPos
,
_Axis[1].ActPos
,
_Axis[2].ActPos
,
_Axis[3].ActPos
);
Declaration
(*
Returns the average of the 4 input parameters.
*)
FUNCTION
Avg4
: REAL
VAR_INPUT
Val1
: REAL;
Val2
: REAL;
Val3
: REAL;
Val4
: REAL;
END_VAR
Avg4
:= (
Val1
+
Val2
+
Val3
+
Val4
) / 4.0;
END_FUNCTION
Example 3
Converts polar coordinates to cartesian coordinates.
Usage
Polar2Cart
(
radius
,
angle,x
,
y
);
Declaration
(*
Converts polar coordinates r, theta to cartesian coordinates x,
y. Theta is in the interval [0,360) degrees.
*)
FUNCTION
Polar2Cart
: BOOL
VAR_INPUT
r
: REAL;
//radius
theta
: REAL;
//angle in degrees [0,360)
END_VAR
VAR_OUTPUT
x
: REAL;
y
: REAL;
END_VAR
IF
theta
= 0.0 OR
theta
= 180.0
THEN
x
:=
r
;
y
:= 0.0;
ELSEIF
theta
= 90.0 OR
theta
= 270.0
THEN
x
:= 0.0;
368
Delta Computer Systems, Inc.