From f2ea4bcdb0f5fcdcb5d2f7f9954d981d7dba2845 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Fri, 1 Apr 2011 20:26:30 +0000
Subject: [PATCH] Broke XPSMotorDriver into XPSController and XPSAxis

---
 motorApp/NewportSrc/XPSMotorDriver.h | 120 ---------------------------
 1 file changed, 120 deletions(-)
 delete mode 100644 motorApp/NewportSrc/XPSMotorDriver.h

diff --git a/motorApp/NewportSrc/XPSMotorDriver.h b/motorApp/NewportSrc/XPSMotorDriver.h
deleted file mode 100644
index ed0b1d09..00000000
--- a/motorApp/NewportSrc/XPSMotorDriver.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
-FILENAME...     XPSMotorDriver.cpp
-USAGE...        Newport XPS EPICS asyn motor device driver
-*/
-
-#include "asynMotorDriver.h"
-
-// drvInfo strings for extra parameters that the XPS controller supports
-#define XPSMinJerkString    "XPS_MIN_JERK"
-#define XPSMaxJerkString    "XPS_MAX_JERK"
-#define XPSStatusString     "XPS_STATUS"
-
-/** Struct that contains information about the XPS corrector loop.*/ 
-typedef struct
-{
-  bool ClosedLoopStatus;
-  double KP; /**< Main proportional term from PID loop.*/
-  double KI; /**< Main integral term from PID loop.*/
-  double KD; /**< Main differential term from PID loop.*/
-  double KS;
-  double IntegrationTime;
-  double DerivativeFilterCutOffFrequency;
-  double GKP;
-  double GKI;
-  double GKD;
-  double KForm;
-  double FeedForwardGainVelocity;
-  double FeedForwardGainAcceleration;
-  double Friction;
-} xpsCorrectorInfo_t;
-
-class XPSAxis : public asynMotorAxis
-{
-public:
-  /* These are the methods we override from the base class */
-  XPSAxis(class XPSController *pController, int axisNo, const char *positionerName, double stepSize);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(int *moving);
-  asynStatus setPosition(double position);
-  
-private:
-  XPSController *pC_;
-  char *getXPSError(int status, char *buffer);
-  int isInGroup();
-  asynStatus setPID(const double * value, int pidoption);
-  asynStatus getPID();
-  asynStatus setPIDValue(const double * value, int pidoption); 
-
-  /* Wrapper functions for the verbose PositionerCorrector functions. */
-  asynStatus PositionerCorrectorPIPositionGetWrapper();
-  asynStatus PositionerCorrectorPIDFFVelocityGetWrapper();
-  asynStatus PositionerCorrectorPIDFFAccelerationGetWrapper();
-  asynStatus PositionerCorrectorPIDDualFFVoltageGetWrapper();
-  asynStatus PositionerCorrectorPIPositionSetWrapper();
-  asynStatus PositionerCorrectorPIDFFVelocitySetWrapper();
-  asynStatus PositionerCorrectorPIDFFAccelerationSetWrapper();
-  asynStatus PositionerCorrectorPIDDualFFVoltageSetWrapper();
-
-  int pollSocket_;
-  int moveSocket_;
-  double setpointPosition_;
-  double encoderPosition_;
-  double currentVelocity_;
-  double velocity_;
-  double accel_;
-  double highLimit_;
-  double lowLimit_;
-  double stepSize_;
-  char *positionerName_;
-  char *groupName_;
-  int positionerError_;
-  int axisStatus_;
-  xpsCorrectorInfo_t xpsCorrectorInfo_;
-  double deferredPosition_;
-  int deferredMove_;
-  int deferredRelative_;
-
-friend class XPSController;
-};
-
-
-class XPSController : public asynMotorController {
-public:
-  XPSController(const char *portName, const char *IPAddress, int IPPort,
-                int numAxes, double movingPollPeriod, double idlePollPeriod);
-
-  /* These are the methods that we override from asynMotorDriver */
-  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
-  void report(FILE *fp, int level);
-  XPSAxis* getAxis(asynUser *pasynUser);
-  XPSAxis* getAxis(int axisNo);
-
-  /* These are the methods that are new to this class */
-  /* Deferred moves functions.*/
-  asynStatus processDeferredMoves();
-  asynStatus processDeferredMovesInGroup(char * groupName);
-
-protected:
-  int XPSMinJerk_;
-#define FIRST_XPS_PARAM XPSMinJerk_
-  int XPSMaxJerk_;
-  int XPSStatus_;
-#define LAST_XPS_PARAM XPSStatus_
-
-#define NUM_XPS_PARAMS (&LAST_XPS_PARAM - &FIRST_XPS_PARAM + 1)
-
-private:
-  char *IPAddress_;
-  int IPPort_;
-  int pollSocket_;
-  char firmwareVersion_[100];
-  int movesDeferred_;
-    
-friend class XPSAxis;
-};
-