---
# System prepended metadata

title: Different Cases
tags: [Robot id, ' Program']

---

---
tags: Robot id, Program
---

Different Cases
===

## DAC Calibration
### STEP 1 [建立新專案](/kXwOv0yYTLeIlyHMMR7o0A?view)

### STEP 2 SET Main Function
```C++=
#include "MotionCard.h"
#include <iostream>
#include <conio.h>

//===============================================================

void _stdcall Timer_DAC(TMRINT *pstINTSource);

//===============================================================

int main()
{
	//-------------------- 開啟各項功能 --------------------
	printf("Press 'Esc' to end program.\n");

	MotionCard_OpenCard(); // 開啟軸卡

	//---------------------- 工作流程 ----------------------
	int sw = 0;

	while (sw != 0x1b)
	{
		//-------------------- 手動結束程式 --------------------
		if (_kbhit())
		{
			sw = _getch(); // 按ESC結束程式
		}

		//---------------------- 切換中斷 ----------------------
		double Voltage = 0.0;

		MotionCard_DAC(0, Voltage); // 送出電壓
		MotionCard_DAC(1, Voltage);
		MotionCard_DAC(2, Voltage);
		MotionCard_DAC(3, Voltage);
		MotionCard_DAC(4, Voltage);
		MotionCard_DAC(5, Voltage);
	}

	//-------------------- 關閉各項功能 --------------------
	MotionCard_CloseCard(); // 關閉軸卡
}


void _stdcall Timer_DAC(TMRINT *pstINTSource)
{
	int Axis = 7;
	double Voltage = 0.0;

	MotionCard_DAC(Axis, Voltage); // 送出電壓
}
```

### STEP 3 硬體配合
- 用未接線的軸卡轉接版測定電壓
- 利用程式給定電壓0V，調整可變電阻使其量測出之電壓平均值為0。

## PTP Control