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Chapter 7 Contoured Moves
NI-Motion User Manual 7-8 ni.com
for(i=0;i<bufferSize;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<backlog;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;