Obsolete, replaced by asynMotorDriver.h

2009-12-16 06:59:37 +00:00
parent a8480fe7db
commit 43a6cbba99
1 changed files with 0 additions and 46 deletions
@@ -1,46 +0,0 @@
-#ifndef DRV_MOTOR_ASYN_H
-#define DRV_MOTOR_ASYN_H
-
-#include "motor_interface.h"
-
-#include <limits.h>
-
-#define NMASKBITS (sizeof(int) * CHAR_BIT)
-#define BIT_ISSET(bit, n, mask) ( ((bit)/NMASKBITS < (n)) && \
-            ((mask)[(bit)/NMASKBITS] & (1 << ((bit) % NMASKBITS))) )
-#define BIT_SET(bit, mask, value) do { \
-                  (mask)[(bit)/NMASKBITS] &= ~(1 << ((bit) % NMASKBITS)); \
-                  if (value) { \
-                      (mask)[(bit)/NMASKBITS] |= (1 << ((bit) % NMASKBITS)); \
-                  } \
-              } while (0);
-
-typedef enum {
-    /* Parameters - these must match the definitions in motor_interface.h */
-    motorPosition = motorAxisPosition,
-    motorEncRatio = motorAxisEncoderRatio,
-    motorResolution = motorAxisResolution,
-    motorPgain = motorAxisPGain,
-    motorIgain = motorAxisIGain,
-    motorDgain = motorAxisDGain,
-    motorHighLim = motorAxisHighLimit,
-    motorLowLim = motorAxisLowLimit,
-    motorSetClosedLoop = motorAxisClosedLoop,
-    motorEncoderPosition = motorAxisEncoderPosn,
-    motorDeferMoves = motorAxisDeferMoves,
-    /* Not exposed by the driver */
-    motorVelocity=100, motorVelBase, motorAccel, 
-    /* Commands */
-    motorMoveRel, motorMoveAbs, motorMoveVel, motorHome, motorStop,
-    /* Status readback */
-    motorStatus, motorUpStatus,
-    /* Status bits split out */
-    motorStatusDirection=motorAxisDirection,
-    motorStatusDone, motorStatusHighLimit, motorStatusAtHome,
-    motorStatusSlip, motorStatusPowerOn, motorStatusFollowingError,
-    motorStatusHome, motorStatusHasEncoder, motorStatusProblem,
-    motorStatusMoving, motorStatusGainSupport, motorStatusCommsError,
-    motorStatusLowLimit, motorStatusHomed, motorStatusLast
-} motorCommand; 
-
-#endif