src/experiments/k4/YAPOCClient/YAPOCClient.cpp
void MoveOneAxis(short axis, float pos){
  //function for moving only one axis at a time
  //send msg POSITIONCOMMAND to YAPOC with 2 inputs: float[30] containing 
  //requested positions and short[30] containing statusbits
  //YAPOC will only move axes whose statusbits is ON (1) and ignore the ones 
  //that are OFF (0)
  
  statusbits[axis] = ON;
  newpositions[axis] = pos;
  
  //uselimit_flag is set to 1 b/c we're not calibrating
  short uselimit_flag = 1;
  //command in ticks
  msg.CreatePositionCommandMsg(newpositions,statusbits,uselimit_flag);
  SendMessage();
  
  //set status bit back to zero, just in case
  //the other status bits should still be zero
  statusbits[axis] = OFF;
}
/* this function is used to send position command (in ticks) to one motor */
this function is used to send position command (in ticks) to one motor
this function is used to send position command ( in ticks ) to one motor
void MoveOneAxis(short axis, float pos){
  statusbits[axis] = ON;
  newpositions[axis] = pos;
  short uselimit_flag = 1;
  msg.CreatePositionCommandMsg(newpositions,statusbits,uselimit_flag);
  SendMessage();
  statusbits[axis] = OFF;
}
void MoveOneAxis ( short axis , float pos ) { statusbits [ axis ] = ON ; newpositions [ axis ] = pos ; short uselimit_flag = 1 ; msg . CreatePositionCommandMsg ( newpositions , statusbits , uselimit_flag ) ; SendMessage ( ) ; statusbits [ axis ] = OFF ; }
this function is used to send position command (in ticks) to one motor
this function is used to send position command ( in ticks ) to one motor
//function for moving only one axis at a time //send msg POSITIONCOMMAND to YAPOC with 2 inputs: float[30] containing  //requested positions and short[30] containing statusbits //YAPOC will only move axes whose statusbits is ON (1) and ignore the ones  //that are OFF (0) //uselimit_flag is set to 1 b/c we're not calibrating //command in ticks //set status bit back to zero, just in case //the other status bits should still be zero