forked from epics_driver_modules/motorBase
Mark Rivers
91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
/* asynMotorAxis.h
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*
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* Mark Rivers
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*
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* This file defines the base class for an asynMotorAxis. It is the class
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* from which real motor axes are derived.
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*/
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#ifndef asynMotorAxis_H
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#define asynMotorAxis_H
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#include <epicsEvent.h>
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#include <epicsTypes.h>
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#include <shareLib.h>
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#ifdef __cplusplus
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#include <asynPortDriver.h>
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#include "asynMotorController.h"
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/** Class from which motor axis objects are derived. */
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class epicsShareClass asynMotorAxis {
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public:
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/* This is the constructor for the class. */
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asynMotorAxis(class asynMotorController *pController, int axisNumber);
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virtual ~asynMotorAxis();
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virtual asynStatus setIntegerParam(int index, int value);
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virtual asynStatus setDoubleParam(int index, double value);
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virtual asynStatus setStringParam(int index, const char *value);
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virtual void report(FILE *fp, int details);
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virtual asynStatus callParamCallbacks();
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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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virtual asynStatus poll(bool *moving);
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virtual asynStatus setPosition(double position);
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virtual asynStatus setEncoderPosition(double position);
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virtual asynStatus setHighLimit(double highLimit);
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virtual asynStatus setLowLimit(double lowLimit);
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virtual asynStatus setPGain(double pGain);
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virtual asynStatus setIGain(double iGain);
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virtual asynStatus setDGain(double dGain);
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virtual asynStatus setClosedLoop(bool closedLoop);
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virtual asynStatus setEncoderRatio(double ratio);
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virtual asynStatus doMoveToHome();
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virtual asynStatus initializeProfile(size_t maxPoints);
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virtual asynStatus defineProfile(double *positions, size_t numPoints);
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virtual asynStatus buildProfile();
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virtual asynStatus executeProfile();
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virtual asynStatus abortProfile();
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virtual asynStatus readbackProfile();
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void setReferencingModeMove(int distance);
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int getReferencingModeMove();
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int getWasMovingFlag();
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void setWasMovingFlag(int wasMoving);
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int getDisableFlag();
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void setDisableFlag(int disableFlag);
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double getLastEndOfMoveTime();
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void setLastEndOfMoveTime(double time);
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protected:
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class asynMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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int axisNo_; /**< Index number of this axis (0 - pC_->numAxes_-1) */
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asynUser *pasynUser_; /**< asynUser connected to this axis for asynTrace debugging */
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double *profilePositions_; /**< Array of target positions for profile moves */
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double *profileReadbacks_; /**< Array of readback positions for profile moves */
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double *profileFollowingErrors_; /**< Array of following errors for profile moves */
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int referencingMode_;
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MotorStatus status_;
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int statusChanged_;
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private:
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int referencingModeMove_;
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int wasMovingFlag_;
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int disableFlag_;
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double lastEndOfMoveTime_;
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friend class asynMotorController;
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};
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#endif /* _cplusplus */
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#endif /* asynMotorAxis_H */
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