4. API: External Module Common Function

Function: eEMPing

/*******************************************************************************
 * FUNCTION: eEMPing
 *
 * PARAMETERS:
 * ~ ucId - External Module ID.
 *
 * RETURN:
 * ~ Error Code.
 *
 * DESCRIPTIONS:
 * Send the ping command to external modules.
 * This is used to check whether an external module is connected.
 *
 *******************************************************************************/
EM_ERROR eEMPing(unsigned char ucId);

Example:

if (eEMPing(unsigned char ucId) == EM_NO_ERROR) {
    // External module with ID 100 is found.
}
else {
    // External module with ID 100 is not found.
}

Funtion: eEMGetModel

/*******************************************************************************
 * FUNCTION: eEMGetModel
 *
 * PARAMETERS:
 * ~ ucId           - External Module ID.
 * ~ peModel        - Buffer to return the model.
 *
 * RETURN:
 * ~ Error Code.
 *
 * DESCRIPTIONS:
 * Get the external module model.
 *
 *******************************************************************************/
EM_ERROR eEMGetModel(unsigned char ucId, EM_MODEL *peModel);

Example:

EM_MODEL eModel;
EM_ERROR eErrorCode;
eErrorCode = eEMGetModel(100, &eModel);
if ((eErrorCode == EM_NO_ERROR) && (eModel == EM_MODEL_G15)) {
    // Connected external module with ID 100 is G15 servo motor.
}

Function: eEMSetId

/*******************************************************************************
 * FUNCTION: eEMSetId
 *
 * PARAMETERS:
 * ~ ucCurrentId    - External module current ID.
 * ~ ucNewId        - External module new ID.
 *
 * RETURN:
 * ~ Error Code.
 *
 * DESCRIPTIONS:
 * Set the external module ID.
 *
 *******************************************************************************/
EM_ERROR eEMSetId(unsigned char ucCurrentId, unsigned char ucNewId);

Example:

// Change the ID from 100 to 200.
eEMSetId(100, 200);

Function: eEMSetAction

/*******************************************************************************
 * FUNCTION: eEMSetAction
 *
 * PARAMETERS:
 * ~ void
 *
 * RETURN:
 * ~ Error Code.
 *
 * DESCRIPTIONS:
 * Send the set action command to all external module.
 * This is to execute the command previously written with register write.
 *
 *******************************************************************************/
EM_ERROR eEMSetAction(void);

Example:

// Set the G15 position and speed with register write.
eG15SetPositionSpeed(11, WAIT_ACTION, 500, NORMAL_POSITIONING, 0, POSITION_SPEED_CONTROL);

// Execute the previous command.
eEMSetAction();

Function: eEMFactoryReset

/*******************************************************************************
 * FUNCTION: eEMFactoryReset
 *
 * PARAMETERS:
 * ~ ucId   - External module ID.
 *
 * RETURN:
 * ~ Error Code.
 *
 * DESCRIPTIONS:
 * Reset the external module control table to default value.
 *
 *******************************************************************************/
EM_ERROR eEMFactoryReset(unsigned char ucId);

Example:

// Factory reset the external module with ID 100.
eEMFactoryReset(100);