public static int moveMagnet(double pos, double speed, double acc, MagnetMotorSetup setup)
{
int iuPos = (int)Math.Round(pos * 4 * setup.nLines * setup.TR / (2 * Math.PI));
double iuSpeed = speed * 4 * setup.nLines * setup.TR * setup.Tslew / (2 * Math.PI);
double iuAcc = acc * 4 * setup.nLines * setup.TR * setup.Tslew * setup.Tslew / (2 * Math.PI);
return(MoveAbsolute(iuPos, iuSpeed, iuAcc, 1, 0));
}
public static double getMotorPosition(MagnetMotorSetup setup)
{
int val = 0;
//kaki+floe: needs update with specific names given a specific config
//for the magnet drive position is (apparently) Target_Position
string name = "Target_Position";
GetLongVariable(name, ref val);
double retVal = val * 2 * Math.PI / (4 * setup.nLines * setup.TR);
return(retVal);
}
