void motorMove (u8 motionID, u8 stCh, u32 position)

Moves the motor specified by motionID and stCh to the specified position. If position is the same as the current position, the motor will not move. If position is less than the current position, the motor will move backwards. If position is greater than the current position, the motor will move forward. The current position can be set to 0 using the setMotorPos function.

#include "moacon500.h"
 
//Waits for motor to finish moving
 
void motorWaitToFinish(u8 motionId, u8 stChannel)
{
 
 //Get the current number of pulses left to send
 u32 pulseCount = motorStat(motionId, stChannel);
 
 //While there are still pulses remaining (i.e. the motor is still moving)
 while(pulseCount > 0)
 {
     //Get the current number of pulses left to send
     pulseCount = motorStat(motionId, stChannel);
 
     //Print the number of pulses remaining to the debug console
     printf("%d pulses remaining\r\n", pulseCount);
     delay(500);                             //Give the CPU a break.
 }
}
 
void cmain(void)
{
     motorSetup(0, 0, 500, 5000, 1000);      //Initialize the motor
     setMotorPos(0,0,0);                     //Current position is starting position
     motorMove(0,0,100000);                  //Move the motor to position 100,000
     motorWaitToFinish(0,0);                 //Wait for the motor to finish moving
     motorMove(0,0,0);                       //Move motor back to starting position
     motorWaitToFinish(0,0);                 //Wait for the motor to finish moving
}

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