forked from epics_driver_modules/motorBase
Ron Sluiter
80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
/*
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FILENAME... PIasynController.cpp
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USAGE... PI GCS Motor Support.
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Version: $Revision$
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Modified By: $Author$
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Last Modified: $Date$
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HeadURL: $URL$
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Based on drvMotorSim.c
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Mark Rivers
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December 13, 2009
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Steffen Rau,
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January 2011
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*/
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#include <asynDriver.h> // for asynStatus
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#include <asynMotorAxis.h>
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class PIasynController;
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class PIGCSController;
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class PIasynAxis : public asynMotorAxis
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{
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public:
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PIasynAxis(class PIasynController *pController, PIGCSController* pGCSController, int axis, const char* szName);
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virtual~PIasynAxis();
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void Init(const char *portName);
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class PIasynController *pController_;
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int getAxisNo() { return axisNo_; }
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virtual asynStatus poll(bool *moving);
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virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration);
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virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration);
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virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
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virtual asynStatus stop(double acceleration);
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char* m_szAxisName; ///< GCS name
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int m_isHoming; ///< if \b TRUE indicating that axis is currently homing/referencing
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double deferred_position; ///< currently not used
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int deferred_move; ///< currently not used
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int deferred_relative; ///< currently not used
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int m_homed; ///< if \b TRUE axis was homed and absolute positions are correct
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double m_velocity;
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double m_acceleration;
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double m_maxAcceleration;
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int m_positionCts;
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double m_position;
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int m_lastDirection;
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int m_CPUnumerator;
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int m_CPUdenominator;
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asynUser* m_pasynUser;
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bool m_bHasLimitSwitches;
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bool m_bHasReference;
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bool m_bProblem;
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bool m_bServoControl;
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bool m_bMoving;
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int m_movingStateMask;
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friend class PIasynController;
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private:
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double negLimit_;
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double posLimit_;
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PIGCSController* m_pGCSController;
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};
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