On Fri, Sep 11, 2015 at 9:37 AM, tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

Hi,

Do you need to use Java?  Are you using MS Windows?  If so are you able to call .NET or C Interop DLL Libraries from Java?

Does your application need to move as coordinated motion along a path?  Or just point to point moves?

Regards

TK

Group: DynoMotion	Message: 12246	From: Tom Kerekes	Date: 9/11/2015
Subject: Re: Confused beginner

Hi Bruk, If Console Commands work for you then see the \PC VC Examples\SimpleConsole\ C++ Example. Regards TK Group: DynoMotion Message: 12247 From: Bruk S Date: 9/11/2015 Subject: Re: Confused beginner Tom, Let me test that out and report back. One other request. I wanted to do a routine where I home each axis to a hard-stop.  With encoders installed on the desired motors, how can I compare the pulses sent to the encoder counts received so that I can determine if the delta is beyond a threshold.  Is there an existing application similar to this? Regards,  On Fri, Sep 11, 2015 at 4:25 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, If Console Commands work for you then see the \PC VC Examples\SimpleConsole\ C++ Example. Regards TK Group: DynoMotion Message: 12248 From: Tom Kerekes Date: 9/12/2015 Subject: Re: Confused beginner Attachments : Hi Bruk, You might try this: #include "KMotionDef.h" #define AXIS 0 // axis to home #define DIR -1 // direction to home #define HSPEED 100 // speed and direction to home #define THRESHOLD 10.0 // Following Error threshold to detect hard stop #define INSIDE_DIST 100.0 // Distance to move and zero inside hardstop main() {     Zero(AXIS);  // Zero the encoder      EnableAxisDest(AXIS,0);     Jog(AXIS,HSPEED*DIR);     // start moving toward hardstop     while (fast_fabs(chan[AXIS].Position - chan[AXIS].Dest) < THRESHOLD) ; // wait till magnitude of following error exceeds threshold     MoveAtVel(0,chan[AXIS].Position+INSIDE_DIST,HSPEED);        // move to position inside hardstop     while (CheckDone(AXIS)) ; //wait until stopped at inside position     Zero(AXIS); //Zero the destination and position here } HTH Regards TK Group: DynoMotion Message: 12250 From: Bruk S Date: 9/12/2015 Subject: Re: Confused beginner Tom, Trying to compile and run SimpleConsole.cpp and this is the error I keep getting: c:\kmotion432\kmotiondll\kmotiondll.h(13): fatal error C1083: Cannot open include file: 'afxmt.h': No such file or directory I've tried this with VC++ 2008, 2010 and 2013. Can you advise please.... On Sat, Sep 12, 2015 at 8:17 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, You might try this: #include "KMotionDef.h" #define AXIS 0 // axis to home #define DIR -1 // direction to home #define HSPEED 100 // speed and direction to home #define THRESHOLD 10.0 // Following Error threshold to detect hard stop #define INSIDE_DIST 100.0 // Distance to move and zero inside hardstop main() {     Zero(AXIS);  // Zero the encoder      EnableAxisDest(AXIS,0);     Jog(AXIS,HSPEED*DIR);     // start moving toward hardstop     while (fast_fabs(chan[AXIS].Position - chan[AXIS].Dest) < THRESHOLD) ; // wait till magnitude of following error exceeds threshold     MoveAtVel(0,chan[AXIS].Position+INSIDE_DIST,HSPEED);        // move to position inside hardstop     while (CheckDone(AXIS)) ; //wait until stopped at inside position     Zero(AXIS); //Zero the destination and position here } HTH Regards TK Group: DynoMotion Message: 12252 From: Tom Kerekes Date: 9/12/2015 Subject: Re: Confused beginner Hi Bruk, The free Express Versions of Visual Studio don't normally support Microsoft Foundation Classes (MFC) used by most of our libraries and examples.  The "afx" headers have to do with MFC. The simplest solution would be to use VS2008 Standard which supports MFC and is what we build our releases with. If you don't have access to VS2008 Standard then you should be able to download/install MFC extensions to those other Versions. Troy was nice enough to write a document how to do this for the free version of VS2013 Community.  See: https://groups.yahoo.com/neo/groups/DynoMotion/conversations/messages/11594 The libraries should be re-built using the BuildAllLibs.sln solution.   Also please use the latest Test Version as it has more compatibility: http://www.dynomotion.com/Software/KMotion433q.exe HTH Regards TK Group: DynoMotion Message: 12651 From: nofear53 Date: 1/3/2016 Subject: Re: Confused beginner Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12652 From: Tom Kerekes Date: 1/3/2016 Subject: Re: Confused beginner Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12654 From: Bruk S Date: 1/3/2016 Subject: Re: Confused beginner Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12655 From: Tom Kerekes Date: 1/3/2016 Subject: Re: Confused beginner Hi Bruk, That should work except I believe you forgot a second parameter. I prefer using sprintf to format commands as: int var=25; int value=999; sprintf(temp,"SetPersistDec%d %d",var, value); Of course you can make your own specialized function if you wish.  HTH Regards TK On Jan 3, 2016, at 1:31 PM, Bruk S b.sahilu@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12698 From: Bruk S Date: 1/11/2016 Subject: Re: Confused beginner Tom, Thanks to your help, I've got a modified version of the SimpleConsole program running the basic functions of my current system.  Although it's just the basic layout, I would like your help once more in refining the current setup. ------------------------------------------------------------------------------------------------------------------------------------------------------------- // AxiumConsole.cpp #include <stdio> #include "stdafx.h" #include "stdlib.h" #include "..\..\KMotionDll\KMotionDll.h"  // KMOtion DLL Header CKMotionDLL *KM;                // one instance of the interface class void MyError(); void initDrives(void) { if (KM->WriteLine("SetPersistDec 25 30000"))   MyError();        // Def_XY_Speed if (KM->WriteLine("SetPersistDec 26 24000")) MyError(); // Def_XY_Accel if (KM->WriteLine("SetPersistDec 27 20"))   MyError(); // Follow_Error_Threshold if (KM->WriteLine("SetPersistDec 28 5000"))   MyError(); // Homing_Speed_XY if (KM->WriteLine("SetPersistDec 29 1000"))   MyError(); // Homing_Speed_Rotation if (KM->WriteLine("SetPersistDec 30 500"))   MyError(); // Homing_Speed_Z if (KM->WriteLine("SetPersistDec 31 20000"))   MyError(); // Def_Z_Speed if (KM->WriteLine("SetPersistDec 32 20000"))   MyError(); // Def_Z_Accel if (KM->WriteLine("SetPersistDec 32 10000"))   MyError(); // Def_Rotation_Speed if (KM->WriteLine("SetPersistDec 32 8000"))   MyError(); // Def_Rotation_Accel if (KM->WriteLine("SetPersistDec 1 10"))   MyError(); // Initialize drives } void moveXY(int x, int y) { char buffer_x[50]; char buffer_y[50]; sprintf(buffer_x,"SetPersistDec 10 %d",x); sprintf(buffer_y,"SetPersistDec 12 %d",y); if (KM->WriteLine(buffer_x))  MyError(); // xLocation if (KM->WriteLine(buffer_y))  MyError(); // yLocation if (KM->WriteLine("SetPersistDec 1 4" ))  MyError(); // Move XY } void moveSource(int source) { char buffer_source[50]; sprintf(buffer_source,"SetPersistDec 13 %d",sourse); if (KM->WriteLine(buffer_source))  MyError();  if (KM->WriteLine("SetPersistDec 1 6" ))  MyError(); // Move Source } void moveDetector(int detector) { char buffer_detector[50]; sprintf(buffer_detector,"SetPersistDec 14 %d",detector); if (KM->WriteLine(buffer_detector))  MyError(); if (KM->WriteLine("SetPersistDec 1 7" ))  MyError(); // Move Detector } void moveXrot(int xrot) { char buffer_xrot[50]; sprintf(buffer_xrot,"SetPersistDec 15 %d",xrot); if (KM->WriteLine(buffer_xrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 8" ))  MyError(); // Move X Rotation } void moveYrot(int yrot) { char buffer_yrot[50]; sprintf(buffer_yrot,"SetPersistDec 16 %d",yrot); if (KM->WriteLine(buffer_yrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 9" ))  MyError(); // Move Y Rotation } void homeXY(void) { if (KM->WriteLine("SetPersistDec 1 2" ))  MyError(); // Home XY motors } int main(int argc, char* argv[]) { KM = new CKMotionDLL(0);  // create as board 0 char response[MAX_LINE]; char input; int xinput, yinput; while(scanf(" %c", &input) == 1) { switch (input) { case 'e': break; case 'i': initDrives(); break; case 'm': scanf(" %d", &xinput); scanf(" %d", &yinput); moveXY(xinput,yinput); printf("Done\n"); break; case 't': scanf(" %d", &xinput); moveSource(xinput); printf("Done\n"); break; case 'b': scanf(" %d", &xinput); moveDetector(xinput); printf("Done\n"); break; case 'x': scanf(" %d", &xinput); moveXrot(xinput); printf("Done\n"); break; case 'y': scanf(" %d", &xinput); moveYrot(xinput); printf("Done\n"); break; case 'h': homeXY(); printf("Done\n"); break; default: break; } } return 0; } // Display Error and terminate void MyError() { printf("Unable to communicate with KMotion board"); exit(1); } ------------------------------------------------------------------------------------------------------------------------------------------------------------- My desire is to create a stand-alone DLL file that has an Axium class which will have the various functions to be accessed from an external program as such:  Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); And so on. Basically my Header File will look something like this (in the most basic form): //Axium.h class __declspec(dllexport) Axium { public: void initDrives(); void moveXY(int x, int y); void moveSource(int z1); void moveDetector(int z2); }; And which my Axium.cpp would look something like:  #include <iostream> #include "Axium.h" using namespace std; void Axium::initDrives() { //Initializing Drives } void Axium::moveXY(int x, int y) { //Moving in X-Y Plane } void Axium::moveSource(int z1) { //Moving X-Ray Source } void Axium::moveDetector(int z2) { //Moving Detector } ------------------------------------------------------------------------------------------------------------------------------------------------------------- What I'm seeking is some guidance on how I can essentially turn the AxiumConsole program into a stand alone DLL acorrding to the above definitions.  What header files should I include and how should I instantiate the KMotionDLL into my custom one. Thanks in advance.... On Sun, Jan 3, 2016 at 2:03 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, That should work except I believe you forgot a second parameter. I prefer using sprintf to format commands as: int var=25; int value=999; sprintf(temp,"SetPersistDec%d %d",var, value); Of course you can make your own specialized function if you wish.  HTH Regards TK On Jan 3, 2016, at 1:31 PM, Bruk S b.sahilu@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12699 From: Tom Kerekes Date: 1/11/2016 Subject: Re: Confused beginner Hi Bruk, Your question seems to be more of Windows DLL programming issue rather than a Dynomotion issue. It seems you desire to export your own C++ class.  I think this is a great article: http://www.codeproject.com/Articles/28969/HowTo-Export-C-classes-from-a-DLL Our CKMotionDLL does exactly that.  So you might just copy and rename it to your Axium class then entirely change the functionality but keep the structure. With regard to your client code: Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); You seem to be missing the difference between a class and an object or instance of a class.  So you would normally first create an object of type Axium then make use of the object.  With something like: Axium MyAxiumObject; MyAxiumObject.initDrives(); MyAxiumObject.moveXy(4,6); MyAxiumObject.moveSource(45); Also initDrives is a function so in C parentheses are needed to make any function call.   The name without parenthesis is just a reference to the address of the function. HTH Regards TK On 1/11/2016 1:45 AM, Bruk S b.sahilu@... [DynoMotion] wrote:   Tom, Thanks to your help, I've got a modified version of the SimpleConsole program running the basic functions of my current system.  Although it's just the basic layout, I would like your help once more in refining the current setup. ------------------------------------------------------------------------------------------------------------------------------------------------------------- // AxiumConsole.cpp #include <stdio> #include "stdafx.h" #include "stdlib.h" #include "..\..\KMotionDll\KMotionDll.h"  // KMOtion DLL Header CKMotionDLL *KM;                // one instance of the interface class void MyError(); void initDrives(void) { if (KM->WriteLine("SetPersistDec 25 30000"))   MyError();        // Def_XY_Speed if (KM->WriteLine("SetPersistDec 26 24000")) MyError(); // Def_XY_Accel if (KM->WriteLine("SetPersistDec 27 20"))   MyError(); // Follow_Error_Threshold if (KM->WriteLine("SetPersistDec 28 5000"))   MyError(); // Homing_Speed_XY if (KM->WriteLine("SetPersistDec 29 1000"))   MyError(); // Homing_Speed_Rotation if (KM->WriteLine("SetPersistDec 30 500"))   MyError(); // Homing_Speed_Z if (KM->WriteLine("SetPersistDec 31 20000"))   MyError(); // Def_Z_Speed if (KM->WriteLine("SetPersistDec 32 20000"))   MyError(); // Def_Z_Accel if (KM->WriteLine("SetPersistDec 32 10000"))   MyError(); // Def_Rotation_Speed if (KM->WriteLine("SetPersistDec 32 8000"))   MyError(); // Def_Rotation_Accel if (KM->WriteLine("SetPersistDec 1 10"))   MyError(); // Initialize drives } void moveXY(int x, int y) { char buffer_x[50]; char buffer_y[50]; sprintf(buffer_x,"SetPersistDec 10 %d",x); sprintf(buffer_y,"SetPersistDec 12 %d",y); if (KM->WriteLine(buffer_x))  MyError(); // xLocation if (KM->WriteLine(buffer_y))  MyError(); // yLocation if (KM->WriteLine("SetPersistDec 1 4" ))  MyError(); // Move XY } void moveSource(int source) { char buffer_source[50]; sprintf(buffer_source,"SetPersistDec 13 %d",sourse); if (KM->WriteLine(buffer_source))  MyError();  if (KM->WriteLine("SetPersistDec 1 6" ))  MyError(); // Move Source } void moveDetector(int detector) { char buffer_detector[50]; sprintf(buffer_detector,"SetPersistDec 14 %d",detector); if (KM->WriteLine(buffer_detector))  MyError(); if (KM->WriteLine("SetPersistDec 1 7" ))  MyError(); // Move Detector } void moveXrot(int xrot) { char buffer_xrot[50]; sprintf(buffer_xrot,"SetPersistDec 15 %d",xrot); if (KM->WriteLine(buffer_xrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 8" ))  MyError(); // Move X Rotation } void moveYrot(int yrot) { char buffer_yrot[50]; sprintf(buffer_yrot,"SetPersistDec 16 %d",yrot); if (KM->WriteLine(buffer_yrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 9" ))  MyError(); // Move Y Rotation } void homeXY(void) { if (KM->WriteLine("SetPersistDec 1 2" ))  MyError(); // Home XY motors } int main(int argc, char* argv[]) { KM = new CKMotionDLL(0);  // create as board 0 char response[MAX_LINE]; char input; int xinput, yinput; while(scanf(" %c", &input) == 1) { switch (input) { case 'e': break; case 'i': initDrives(); break; case 'm': scanf(" %d", &xinput); scanf(" %d", &yinput); moveXY(xinput,yinput); printf("Done\n"); break; case 't': scanf(" %d", &xinput); moveSource(xinput); printf("Done\n"); break; case 'b': scanf(" %d", &xinput); moveDetector(xinput); printf("Done\n"); break; case 'x': scanf(" %d", &xinput); moveXrot(xinput); printf("Done\n"); break; case 'y': scanf(" %d", &xinput); moveYrot(xinput); printf("Done\n"); break; case 'h': homeXY(); printf("Done\n"); break; default: break; } } return 0; } // Display Error and terminate void MyError() { printf("Unable to communicate with KMotion board"); exit(1); } ------------------------------------------------------------------------------------------------------------------------------------------------------------- My desire is to create a stand-alone DLL file that has an Axium class which will have the various functions to be accessed from an external program as such:  Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); And so on. Basically my Header File will look something like this (in the most basic form): //Axium.h class __declspec(dllexport) Axium { public: void initDrives(); void moveXY(int x, int y); void moveSource(int z1); void moveDetector(int z2); }; And which my Axium.cpp would look something like:  #include <iostream> #include "Axium.h" using namespace std; void Axium::initDrives() { //Initializing Drives } void Axium::moveXY(int x, int y) { //Moving in X-Y Plane } void Axium::moveSource(int z1) { //Moving X-Ray Source } void Axium::moveDetector(int z2) { //Moving Detector } ------------------------------------------------------------------------------------------------------------------------------------------------------------- What I'm seeking is some guidance on how I can essentially turn the AxiumConsole program into a stand alone DLL acorrding to the above definitions.  What header files should I include and how should I instantiate the KMotionDLL into my custom one. Thanks in advance.... On Sun, Jan 3, 2016 at 2:03 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, That should work except I believe you forgot a second parameter. I prefer using sprintf to format commands as: int var=25; int value=999; sprintf(temp,"SetPersistDec%d %d",var, value); Of course you can make your own specialized function if you wish.  HTH Regards TK On Jan 3, 2016, at 1:31 PM, Bruk S b.sahilu@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12702 From: Bruk S Date: 1/12/2016 Subject: Re: Confused beginner Attachments : Tom, Thank you again for clarifying the process and most of all for understanding my objective. I didn't even think to look at the KMotionDLL source-code.  I will attempt that route first since everything is structured and it works.   I've opened the project file in Visual Studio 2008 and can successfully build the project.  However, I was expecting to get a KMotionDLL.dll as a final compiled output file in the Debug folder.  I don't.  Is there some post-process procedure I need to do to make that happen? The attached image shows the content of the generated files in the Debug folder. Regards, On Mon, Jan 11, 2016 at 11:23 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, Your question seems to be more of Windows DLL programming issue rather than a Dynomotion issue. It seems you desire to export your own C++ class.  I think this is a great article: http://www.codeproject.com/Articles/28969/HowTo-Export-C-classes-from-a-DLL Our CKMotionDLL does exactly that.  So you might just copy and rename it to your Axium class then entirely change the functionality but keep the structure. With regard to your client code: Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); You seem to be missing the difference between a class and an object or instance of a class.  So you would normally first create an object of type Axium then make use of the object.  With something like: Axium MyAxiumObject; MyAxiumObject.initDrives(); MyAxiumObject.moveXy(4,6); MyAxiumObject.moveSource(45); Also initDrives is a function so in C parentheses are needed to make any function call.   The name without parenthesis is just a reference to the address of the function. HTH Regards TK On 1/11/2016 1:45 AM, Bruk S b.sahilu@... [DynoMotion] wrote:   Tom, Thanks to your help, I've got a modified version of the SimpleConsole program running the basic functions of my current system.  Although it's just the basic layout, I would like your help once more in refining the current setup. ------------------------------------------------------------------------------------------------------------------------------------------------------------- // AxiumConsole.cpp #include <stdio> #include "stdafx.h" #include "stdlib.h" #include "..\..\KMotionDll\KMotionDll.h"  // KMOtion DLL Header CKMotionDLL *KM;                // one instance of the interface class void MyError(); void initDrives(void) { if (KM->WriteLine("SetPersistDec 25 30000"))   MyError();        // Def_XY_Speed if (KM->WriteLine("SetPersistDec 26 24000")) MyError(); // Def_XY_Accel if (KM->WriteLine("SetPersistDec 27 20"))   MyError(); // Follow_Error_Threshold if (KM->WriteLine("SetPersistDec 28 5000"))   MyError(); // Homing_Speed_XY if (KM->WriteLine("SetPersistDec 29 1000"))   MyError(); // Homing_Speed_Rotation if (KM->WriteLine("SetPersistDec 30 500"))   MyError(); // Homing_Speed_Z if (KM->WriteLine("SetPersistDec 31 20000"))   MyError(); // Def_Z_Speed if (KM->WriteLine("SetPersistDec 32 20000"))   MyError(); // Def_Z_Accel if (KM->WriteLine("SetPersistDec 32 10000"))   MyError(); // Def_Rotation_Speed if (KM->WriteLine("SetPersistDec 32 8000"))   MyError(); // Def_Rotation_Accel if (KM->WriteLine("SetPersistDec 1 10"))   MyError(); // Initialize drives } void moveXY(int x, int y) { char buffer_x[50]; char buffer_y[50]; sprintf(buffer_x,"SetPersistDec 10 %d",x); sprintf(buffer_y,"SetPersistDec 12 %d",y); if (KM->WriteLine(buffer_x))  MyError(); // xLocation if (KM->WriteLine(buffer_y))  MyError(); // yLocation if (KM->WriteLine("SetPersistDec 1 4" ))  MyError(); // Move XY } void moveSource(int source) { char buffer_source[50]; sprintf(buffer_source,"SetPersistDec 13 %d",sourse); if (KM->WriteLine(buffer_source))  MyError();  if (KM->WriteLine("SetPersistDec 1 6" ))  MyError(); // Move Source } void moveDetector(int detector) { char buffer_detector[50]; sprintf(buffer_detector,"SetPersistDec 14 %d",detector); if (KM->WriteLine(buffer_detector))  MyError(); if (KM->WriteLine("SetPersistDec 1 7" ))  MyError(); // Move Detector } void moveXrot(int xrot) { char buffer_xrot[50]; sprintf(buffer_xrot,"SetPersistDec 15 %d",xrot); if (KM->WriteLine(buffer_xrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 8" ))  MyError(); // Move X Rotation } void moveYrot(int yrot) { char buffer_yrot[50]; sprintf(buffer_yrot,"SetPersistDec 16 %d",yrot); if (KM->WriteLine(buffer_yrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 9" ))  MyError(); // Move Y Rotation } void homeXY(void) { if (KM->WriteLine("SetPersistDec 1 2" ))  MyError(); // Home XY motors } int main(int argc, char* argv[]) { KM = new CKMotionDLL(0);  // create as board 0 char response[MAX_LINE]; char input; int xinput, yinput; while(scanf(" %c", &input) == 1) { switch (input) { case 'e': break; case 'i': initDrives(); break; case 'm': scanf(" %d", &xinput); scanf(" %d", &yinput); moveXY(xinput,yinput); printf("Done\n"); break; case 't': scanf(" %d", &xinput); moveSource(xinput); printf("Done\n"); break; case 'b': scanf(" %d", &xinput); moveDetector(xinput); printf("Done\n"); break; case 'x': scanf(" %d", &xinput); moveXrot(xinput); printf("Done\n"); break; case 'y': scanf(" %d", &xinput); moveYrot(xinput); printf("Done\n"); break; case 'h': homeXY(); printf("Done\n"); break; default: break; } } return 0; } // Display Error and terminate void MyError() { printf("Unable to communicate with KMotion board"); exit(1); } ------------------------------------------------------------------------------------------------------------------------------------------------------------- My desire is to create a stand-alone DLL file that has an Axium class which will have the various functions to be accessed from an external program as such:  Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); And so on. Basically my Header File will look something like this (in the most basic form): //Axium.h class __declspec(dllexport) Axium { public: void initDrives(); void moveXY(int x, int y); void moveSource(int z1); void moveDetector(int z2); }; And which my Axium.cpp would look something like:  #include <iostream> #include "Axium.h" using namespace std; void Axium::initDrives() { //Initializing Drives } void Axium::moveXY(int x, int y) { //Moving in X-Y Plane } void Axium::moveSource(int z1) { //Moving X-Ray Source } void Axium::moveDetector(int z2) { //Moving Detector } ------------------------------------------------------------------------------------------------------------------------------------------------------------- What I'm seeking is some guidance on how I can essentially turn the AxiumConsole program into a stand alone DLL acorrding to the above definitions.  What header files should I include and how should I instantiate the KMotionDLL into my custom one. Thanks in advance.... On Sun, Jan 3, 2016 at 2:03 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, That should work except I believe you forgot a second parameter. I prefer using sprintf to format commands as: int var=25; int value=999; sprintf(temp,"SetPersistDec%d %d",var, value); Of course you can make your own specialized function if you wish.  HTH Regards TK On Jan 3, 2016, at 1:31 PM, Bruk S b.sahilu@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas? Group: DynoMotion Message: 12703 From: Tom Kerekes Date: 1/12/2016 Subject: Re: Confused beginner Hi Bruk, The .exe and .dll binaries are all output to the <install>\Kmotion\Debug  directory so they can all find each other. Windows's Explorer has a file search function that is helpful for locating files. Also you can look at the Project | Properties | Output Directory to see where the Output will be placed. There is a BuildAllLibs.sln solution that you can use to build all the KMotion Libraries. Regards TK On 1/12/2016 9:09 AM, Bruk S b.sahilu@... [DynoMotion] wrote:   Tom, Thank you again for clarifying the process and most of all for understanding my objective. I didn't even think to look at the KMotionDLL source-code.  I will attempt that route first since everything is structured and it works.   I've opened the project file in Visual Studio 2008 and can successfully build the project.  However, I was expecting to get a KMotionDLL.dll as a final compiled output file in the Debug folder.  I don't.  Is there some post-process procedure I need to do to make that happen? The attached image shows the content of the generated files in the Debug folder. Regards, On Mon, Jan 11, 2016 at 11:23 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, Your question seems to be more of Windows DLL programming issue rather than a Dynomotion issue. It seems you desire to export your own C++ class.  I think this is a great article: http://www.codeproject.com/Articles/28969/HowTo-Export-C-classes-from-a-DLL Our CKMotionDLL does exactly that.  So you might just copy and rename it to your Axium class then entirely change the functionality but keep the structure. With regard to your client code: Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); You seem to be missing the difference between a class and an object or instance of a class.  So you would normally first create an object of type Axium then make use of the object.  With something like: Axium MyAxiumObject; MyAxiumObject.initDrives(); MyAxiumObject.moveXy(4,6); MyAxiumObject.moveSource(45); Also initDrives is a function so in C parentheses are needed to make any function call.   The name without parenthesis is just a reference to the address of the function. HTH Regards TK On 1/11/2016 1:45 AM, Bruk S b.sahilu@... [DynoMotion] wrote:   Tom, Thanks to your help, I've got a modified version of the SimpleConsole program running the basic functions of my current system.  Although it's just the basic layout, I would like your help once more in refining the current setup. ------------------------------------------------------------------------------------------------------------------------------------------------------------- // AxiumConsole.cpp #include <stdio> #include "stdafx.h" #include "stdlib.h" #include "..\..\KMotionDll\KMotionDll.h"  // KMOtion DLL Header CKMotionDLL *KM;                // one instance of the interface class void MyError(); void initDrives(void) { if (KM->WriteLine("SetPersistDec 25 30000"))   MyError();        // Def_XY_Speed if (KM->WriteLine("SetPersistDec 26 24000")) MyError(); // Def_XY_Accel if (KM->WriteLine("SetPersistDec 27 20"))   MyError(); // Follow_Error_Threshold if (KM->WriteLine("SetPersistDec 28 5000"))   MyError(); // Homing_Speed_XY if (KM->WriteLine("SetPersistDec 29 1000"))   MyError(); // Homing_Speed_Rotation if (KM->WriteLine("SetPersistDec 30 500"))   MyError(); // Homing_Speed_Z if (KM->WriteLine("SetPersistDec 31 20000"))   MyError(); // Def_Z_Speed if (KM->WriteLine("SetPersistDec 32 20000"))   MyError(); // Def_Z_Accel if (KM->WriteLine("SetPersistDec 32 10000"))   MyError(); // Def_Rotation_Speed if (KM->WriteLine("SetPersistDec 32 8000"))   MyError(); // Def_Rotation_Accel if (KM->WriteLine("SetPersistDec 1 10"))   MyError(); // Initialize drives } void moveXY(int x, int y) { char buffer_x[50]; char buffer_y[50]; sprintf(buffer_x,"SetPersistDec 10 %d",x); sprintf(buffer_y,"SetPersistDec 12 %d",y); if (KM->WriteLine(buffer_x))  MyError(); // xLocation if (KM->WriteLine(buffer_y))  MyError(); // yLocation if (KM->WriteLine("SetPersistDec 1 4" ))  MyError(); // Move XY } void moveSource(int source) { char buffer_source[50]; sprintf(buffer_source,"SetPersistDec 13 %d",sourse); if (KM->WriteLine(buffer_source))  MyError();  if (KM->WriteLine("SetPersistDec 1 6" ))  MyError(); // Move Source } void moveDetector(int detector) { char buffer_detector[50]; sprintf(buffer_detector,"SetPersistDec 14 %d",detector); if (KM->WriteLine(buffer_detector))  MyError(); if (KM->WriteLine("SetPersistDec 1 7" ))  MyError(); // Move Detector } void moveXrot(int xrot) { char buffer_xrot[50]; sprintf(buffer_xrot,"SetPersistDec 15 %d",xrot); if (KM->WriteLine(buffer_xrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 8" ))  MyError(); // Move X Rotation } void moveYrot(int yrot) { char buffer_yrot[50]; sprintf(buffer_yrot,"SetPersistDec 16 %d",yrot); if (KM->WriteLine(buffer_yrot))  MyError(); if (KM->WriteLine("SetPersistDec 1 9" ))  MyError(); // Move Y Rotation } void homeXY(void) { if (KM->WriteLine("SetPersistDec 1 2" ))  MyError(); // Home XY motors } int main(int argc, char* argv[]) { KM = new CKMotionDLL(0);  // create as board 0 char response[MAX_LINE]; char input; int xinput, yinput; while(scanf(" %c", &input) == 1) { switch (input) { case 'e': break; case 'i': initDrives(); break; case 'm': scanf(" %d", &xinput); scanf(" %d", &yinput); moveXY(xinput,yinput); printf("Done\n"); break; case 't': scanf(" %d", &xinput); moveSource(xinput); printf("Done\n"); break; case 'b': scanf(" %d", &xinput); moveDetector(xinput); printf("Done\n"); break; case 'x': scanf(" %d", &xinput); moveXrot(xinput); printf("Done\n"); break; case 'y': scanf(" %d", &xinput); moveYrot(xinput); printf("Done\n"); break; case 'h': homeXY(); printf("Done\n"); break; default: break; } } return 0; } // Display Error and terminate void MyError() { printf("Unable to communicate with KMotion board"); exit(1); } ------------------------------------------------------------------------------------------------------------------------------------------------------------- My desire is to create a stand-alone DLL file that has an Axium class which will have the various functions to be accessed from an external program as such:  Axium.initDrives; Axium.moveXy(4,6); Axium.moveSource(45); And so on. Basically my Header File will look something like this (in the most basic form): //Axium.h class __declspec(dllexport) Axium { public: void initDrives(); void moveXY(int x, int y); void moveSource(int z1); void moveDetector(int z2); }; And which my Axium.cpp would look something like:  #include <iostream> #include "Axium.h" using namespace std; void Axium::initDrives() { //Initializing Drives } void Axium::moveXY(int x, int y) { //Moving in X-Y Plane } void Axium::moveSource(int z1) { //Moving X-Ray Source } void Axium::moveDetector(int z2) { //Moving Detector } ------------------------------------------------------------------------------------------------------------------------------------------------------------- What I'm seeking is some guidance on how I can essentially turn the AxiumConsole program into a stand alone DLL acorrding to the above definitions.  What header files should I include and how should I instantiate the KMotionDLL into my custom one. Thanks in advance.... On Sun, Jan 3, 2016 at 2:03 PM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, That should work except I believe you forgot a second parameter. I prefer using sprintf to format commands as: int var=25; int value=999; sprintf(temp,"SetPersistDec%d %d",var, value); Of course you can make your own specialized function if you wish.  HTH Regards TK On Jan 3, 2016, at 1:31 PM, Bruk S b.sahilu@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Tom, That might be it!  I will set the OutputMode1=6 and test it as soon as I get back to the shop! Also, is there another method of sending commands directly to the KFLOP other than this format: if (KM->WriteLine( "COMMAND")); MyError(); Essentially, I'd like to pass variable values along with commands, but seems like as strings, I will have to concatenate every time. Seems a bit cumbersome.  For instance: char temp[80]; strcpy(temp, "SetPersistDec "); strcat(temp, "25"); if (KM->WriteLine( temp)); MyError(); Will that work? I am really triggering events on the KFLOP by updating various persist variables sent int via the command line.  Is there an alternative method? Regards, On Sun, Jan 3, 2016 at 11:30 AM, Tom Kerekes tk@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:   Hi Bruk, What Console Commands are you sending? The Example includes a "OutputMode1=1" Which would most likely not be appropriate for your system (SnapAmp Microstep mode for microstepping a Stepper Motor - not Step/Dir). Sounds like the Trajectory is changing and causing the C Program to Enable the KSTEP but because the axis is configured for a different mode it doesn't make Step Pulses. You might test the Script Commands in the Console to verify they work as expected. HTH Regards TK On 1/3/2016 10:38 AM, b.sahilu@... [DynoMotion] wrote:   Tom, Sorry for the long pause.  This project is definitely gaining momentum and I need to revisit the motion control aspect.  I have successfully written a custom C program that I can load on the KFLOP and run it by setting persist values manually using the KMotion console. The next step is to write a custom C++ DLL that will  simplify all of the various steps of setting persists into simple function calls to be accessed with our JAVA application.  For this I was looking at the SimpleConsole example program you had mentioned for guidance.  That too, I have successfully compiled and ran BUT upon running the EXE, NOTHING happens! Basically, when I open and run the compiled program, I can hear the click when bit 45 is enabled, but NO motion. I have edited the values to insure the values are high enough to see motion.  In fact, I can send the same commands via the KMotion Console and see motion being executed.  The other odd thing that happens is that after running the SimpleConsole program, the axis that was triggered in SimpleConsole is no longer responding to any commands from within the KMotion Console.   Any ideas?