AxisAnalogJogging.sq

void main()
{
  // user sets these values
  uint32 axis = 0;
  int32 analogChannel = 0;
  double analogMidrange = 10000.0;
  double analogDeadband = 100;
  double velocityMultiplier = 0.01;
  double alpha = 0.1;
  
 
  // internals
  int32 i = 0;
  int32 counterStart = 0;
  double position = 0.0;
  double averageAnalog = 0;
  double rawAnalogValue = 0.0;
  double scaledAnalogValue = 0.0;
  double targetVelocity = 0;
  
  AxisClearFaults(axis);
  AxisAmpEnableSet(axis,true);
  double acceleration = AxisDefaultAccelerationGet(axis);
  
  counterStart = ControllerSampleCounterGet();
  while(AxisAmpEnableGet(axis)) 
  {
    rawAnalogValue =  AxisAnalogInGet(axis, analogChannel); 
    scaledAnalogValue = rawAnalogValue - analogMidrange;
    
    if( abs(scaledAnalogValue) < analogDeadband)
    {
      scaledAnalogValue = 0.0;
    }
    
    scaledAnalogValue = scaledAnalogValue * velocityMultiplier; // multiplier
    averageAnalog = (alpha * scaledAnalogValue) + (1.0 - alpha) * averageAnalog; // exponential moving average
    targetVelocity = averageAnalog * averageAnalog * averageAnalog; // cubic velocity
    
    AxisMoveVelocity(axis, targetVelocity, acceleration); 
    wait(0.005);  // no need to change velocity faster than every 5ms
    
    //print("analog: " + scaledAnalogValue + " velocity: " + targetVelocity + " loops: " + i);
    ++i;
  }
  print(MethodTiming(counterStart, i) + "ms per loop.  total loops = " + i + " loops.");
}
 
double MethodTiming(int32 start, int32 loops)
{
  int32 end = ControllerSampleCounterGet();
  return (end - start) / loops;
}