The question of modify the program

1.lab12 can not control the acceleration and jerk,I think I can get better performance,if I can control them.
And I run the lab13e,it looked like only the speed regulation for the different curves that can be used with SpinTAC.So I want to know whether I can use lab13e to implement velocity control?
2.I knew this already,but on my borad,I only designed J10.I lost J4 due to my negligence.So I have to make five signal wires of encoder connect with J10.hence I need help.I saw a program section in hal.c:
#ifdef QEP
// EQEPA
GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);

// EQEPB
GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_EQEP1B);
GPIO_setQualification(obj->gpioHandle,GPIO_Number_21,GPIO_Qual_Sample_3);

// STATUS
GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

// EQEP1I
GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);

Excuse me. I wonder whether I can do it successfully just by modifying above GPIO mumber code. Are there other places need to modify?

Hello Adam

Combine the two programs...I think it will not be easy.Can I do it Just by modifying the file "proj_lab12b.c" ?If so,I will try to do that.

You can check if I am making any mistake.

Step 1:
I add this function"ST_setupVelMove(stHandle)" to line 244

Step 2:

In line 392,I set SpinTAC Move start & end velocity to 0 when the estimator is not running.

Step 3:

I add this function"ST_setupVelMove(stHandle)" to line 465

Step 4:

I add this function"ST_runVelMove(stHandle, ctrlHandle);" to line 501

Step 5:

In this step,  I am in difficulty that how to modify "gMotorVars.SpeedTraj_krpm"?

In lab6a:  gMotorVars.SpeedTraj_krpm = _IQmpy(STVELMOVE_getVelocityReference(stObj->velMoveHandle),EST_get_pu_to_krpm_sf(obj->estHandle));

In lab12b: gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

So I don't know how to combine them.I need help.

Step 6:

I add three variables into the function "updateGlobalVariables_motor(CTRL_Handle handle, ST_Handle sthandle)" in line 604.

Step 7:

I add a function "ST_runVelMove(ST_Handle handle, CTRL_Handle ctrlHandle)" in line 650.

The last step:

I ran into a difficult problem about the function "ST_runVelCtl(ST_Handle handle, CTRL_Handle ctrlHandle)"

I found there are some differences between lab06a and lab12b.As shown:

I wanna know how to combine them.

Thanks.

Sorry about the delay.

For step 5, you should use:  gMotorVars.SpeedTraj_krpm = _IQmpy(STVELMOVE_getVelocityReference(stObj->velMoveHandle),EST_get_pu_to_krpm_sf(obj->estHandle));

For the final step, in Lab 12b Line 658 should come from Lab 12b and Lines 661 & 662 should come from Lab 06a.

Hope that helps.