Delta Tau GEO BRICK LV User Manual

 

Register Arrays:  Register arrays work with the compiler’s short L-variables and long F-variables.  
These arrays must be declared to the compiler before the start of the actual Open Servo algorithm.  In use, 
the number of the array index is placed inside square brackets, and specifies the address offset from the 
declared beginning of the array.  The expression that determines this number is a fixed-point expression, 
so it can only use the compiler’s L-variables and constants that fit within the range of a 24-bit signed 
integer. 

L and F-variable register arrays must be declared to the compiler before the start of the actual Open Servo 
algorithm.  Examples of these definitions are: 

The declared array size must be a power of 2 in the range 2 to 8192.  L-variable register arrays always use 
full 24-bit X or Y registers, treating the values as signed integers. 

Operators 
As with any Turbo PMAC user program, Open Servo can utilize the following mathematical and logical 
operators: 

• 

+ (addition) 

• 

- (subtraction 

• 

x (multiplication) 

• 

/ (division) 

• 

% (modulo, remainder) 

• 

& (bit-by-bit 

AND) 

• 

| (bit-by-bit 

OR) 

• 

^ (bit-by-bit 

XOR) 

All of these operators can be used in either floating-point or integer statements.  Integer division rounds 
the result to the nearest integer; in the case where the fraction is exactly 0.5, it will round to the next more 
positive integer (e.g. -7.5 to -7, and 7.5 to 8). 

Comparators 
As with any Turbo PMAC user program, Open Servo can utilize the following comparators in conditional 
statements: 

• 

= (equal 

to) 

• 

> (greater 

than) 

• 

< (less 

than) 

• 

~  (approximately equal to [within 0.5]) 

• 

!=  (not equal to) 

• 

!>  (not greater than, less than or equal to) 

• 

!<  (not less than, greater than or equal to) 

• 

!~  (not approximately equal to [not within 0.5]) 

The ~ and !~ comparators can only be used in floating-point statements.  Note that the <>, >=, and <= 
comparators, which can be used in some programming languages, cannot be used in the Open Servo or 
other Turbo PMAC programs. 

Functions 
As with any Turbo PMAC user program, Open Servo can utilize the following mathematical functions.  
Note that these functions can only be used in floating-point statements within the Open Servo: 

• 

SIN (trigonometric 

sine) 

• 

COS (trigonometric 

cosine) 

• 

TAN (trigonometric 

tangent)