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How can I get motor number in user pid ?


MS Lee
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For anyone who uses this method, it seems that the base motor address and the size of each motor has changed in later firmware versions. Here is a corrected version that should work on any firmware:

 


unsigned int motor = (unsigned int)Mptr;
unsigned int mbase = (unsigned int)&pshm->Motor[0];
unsigned int msize = (unsigned int)&pshm->Motor[1] - mbase;

unsigned int mnum = (motor - mbase) / msize; // motor number

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