Galil Motion Control DMC-4123 - Example: Variable, and an Important Note about Creating Global Variables; Example: Working with Arrays; Example: Abstracting Axes

Example: Variable, and an Important Note about Creating Global Variables
#Var
value=5 ;'a value to be passed by reference
global=8 ;'a global variable
JS#SUM(&value,1,2,3,4,5,6,7) ;'note first arg passed by reference
MG value ;'message out value after subroutine.
MG _JS ;'message out returned value
EN
'
#SUM ;NO(* ^a,^b,^c,^d,^e,^f,^g)
^a=^b+^c+^d+^e+^f+^g+^h+global
EN,,^a
'notes:
'do not use spaces when working with ^
'If using global variables, they MUST be created before the subroutine is run
Executed program from program2.dmc
36.0000
36.0000
Example: Working with Arrays
#Array
DM speeds[8]
DM other[256]
JS#zeroAry("speeds",0) ;'zero out all buckets in speeds[]
JS#zeroAry("other",0) ;'zero out all buckers in other[]
EN
'
#zeroAry ;NO(array ^a, ^b) zeros array starting at index ^b
^a[^b]=0
^b=^b+1
JP#zeroAry,(^b<^a[-1]) ;'[-1] returns the length of an array
EN
Example: Abstracting Axes
#Axes
JS#runMove(0,10000,1000,100000,100000)
MG "Position:",_JS
EN
'
#runMove ;NO(axis ^a, PR ^b, SP ^c, AC ^d, DC ^e) Profile movement for axis
~a=^a ;'~a is global, so use carefully in subroutines
'try one variable axis a-h for each thread A-H
PR~a=^b
SP~a=^c
AC~a=^d
DC~a=^e
BG~a
MC~a
EN,,_TP~a
Chapter 7 Application Programming ▫ 118 DMC-41x3 User Manual