User manual

III.1.11 Custom Analog and Digital Inputs and Outputs

64 short GetCustomAD1();

65 short GetCustomAD2();

66 short GetCustomAD3();

67 short GetCustomAD4();

68 short GetCustomAD5();

69 short GetCustomAD6();

70 short GetCustomAD7();

71 short GetCustomAD8();

72 short GetCustomAD (short channel);

Description:

GetCustomADX returns the sampling value of the custom analog to digital input signals. By

default, custom AD1 - AD3 are used as the inputs of power supply voltage monitors for DSP

circuits, DC motors and servo motors. User can change this setting by configuring the

jumpers on PMS5005. Please refer to Chapter IV.I PMS5005 Robot Sensing and Motion

Controller (Page 67) for detailed information on hardware jumper setting.

Syntax: ival = GetCustomAD1(); /* for battery of DSP circuits,

or custom A/D channel #1 */

ival = GetCustomAD2 (); /* for battery of DC motors,

or custom A/D channel #2 */

ival = GetCustomAD3(); /* battery for servo motors,

or custom A/D channel #3 */

ival = GetCustomAD4(); // custom A/D channel #4

ival = GetCustomAD5(); // custom A/D channel #5

ival = GetCustomAD6(); // custom A/D channel #6

ival = GetCustomAD7(); // custom A/D channel #7

ival = GetCustomAD8(); // custom A/D channel #8

ival = GetCustomAD(short channel); /* custom A/D channel #1, 2, 3, 4,

5, 6, 7 or 8 */

Parameter: void

short channel; /* 0, 1, 2, 3, 4, 5, 6 or 7 for

channel #1, 2, 3, 4, 5, 6, 7, 8 */

Return value: short ival;

Return data interpretation: