diff --git a/motorApp/NewportSrc/AG_CONEX.h b/motorApp/NewportSrc/AG_CONEX.h index cf15b999..10671295 100644 --- a/motorApp/NewportSrc/AG_CONEX.h +++ b/motorApp/NewportSrc/AG_CONEX.h @@ -1,6 +1,6 @@ /* FILENAME... AG_CONEX.h -USAGE... Motor driver support for the Newport Agilis AG-UC series of controllers. +USAGE... Motor driver support for the Newport CONEX-AGP and CONEX-CC series of controllers. Mark Rivers April 11, 2013 @@ -10,6 +10,11 @@ April 11, 2013 #include "asynMotorController.h" #include "asynMotorAxis.h" +typedef enum { + ModelConexAGP, + ModelConexCC +} ConexModel_t; + // No controller-specific parameters yet #define NUM_AG_CONEX_PARAMS 0 @@ -43,8 +48,14 @@ private: double lowLimit_; double KP_; double KI_; + double KD_; double LF_; + double KPMax_; + double KDMax_; + double KIMax_; + double LFMax_; char stageID_[40]; + ConexModel_t conexModel_; friend class AG_CONEXController; }; @@ -56,8 +67,8 @@ public: void report(FILE *fp, int level); AG_CONEXAxis* getAxis(asynUser *pasynUser); AG_CONEXAxis* getAxis(int axisNo); - asynStatus writeAgilis(); - asynStatus writeAgilis(const char *output, double timeout); + asynStatus writeCONEX(); + asynStatus writeCONEX(const char *output, double timeout); private: int controllerID_;