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Generating Normal to a Contour


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I need to generate a normal angle to a contour. I am looking at using Motor[0] with a user written servo. The Motor[0] position will then be used by a came table for other functions.


double user_pid_ctrl(struct MotorData *Mptr)


double normalangle;

if (abs(Motor[XMOTOR].DesVel)>0 || abs(Motor[YMOTOR].DesVel)>0)

{ normalangle=atan2d(Motor[XMOTOR].DesVel,Motor[YMOTOR].DesVel); }

else { normalangle = 200; }// not a valid angle use for table suppression.

return 0;



Would it be appropriate to write the angle directly to Motor[0].pos, or should it go through an encoder table entry, or perhaps some other register?

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This should be OK to do. In Script, the write is blocked if the "motor" is enabled, but this routine is in C so you don't even need to worry about that. Of course, the motor must be activated for your value to get copied into Motor[0].ActPos, and not closed-loop if you then want the value to be copied into Motor[0].DesPos.
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