forked from epics_driver_modules/motorBase
Torsten Bögershausen
532afdc5a0
They have no meaning in Git, are not updated and may cause unwanted diffs when otherwise nothing is changed in a file
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
/*
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FILENAME... PIGCSMotorController.h
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*************************************************************************
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* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
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* This file is distributed subject to the EPICS Open License Agreement
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* found in the file LICENSE that is included with this distribution.
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*************************************************************************
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Original Author: Steffen Rau
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Created: 15.12.2010
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*/
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#ifndef PIGCSMOTORCONTROLLER_H_
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#define PIGCSMOTORCONTROLLER_H_
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#include "PIGCSController.h"
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#include <asynDriver.h>
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/**
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* class representing PI GCS2 motor controllers.
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*
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* "motor" does not strictly restrict the driving principle to DC stages or
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* stepper but includes other controller families (e.g. for piezo motors) also.
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*/
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class PIGCSMotorController : public PIGCSController
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{
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public:
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PIGCSMotorController(PIInterface* pInterface, const char* szIDN)
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: PIGCSController(pInterface, szIDN)
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{
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}
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~PIGCSMotorController() {}
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virtual asynStatus initAxis(PIasynAxis* pAxis);
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virtual asynStatus setAccelerationCts( PIasynAxis* pAxis, double acceleration);
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virtual asynStatus setAcceleration( PIasynAxis* pAxis, double acceleration);
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virtual asynStatus getMaxAcceleration( PIasynAxis* pAxis );
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virtual asynStatus referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards);
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virtual asynStatus getResolution(PIasynAxis* pAxis, double& resolution );
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virtual asynStatus getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl);
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protected:
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enum
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{
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PI_PARA_MOT_CURR_ACCEL = 0x000000BUL,
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PI_PARA_MOT_CURR_DECEL = 0x000000CUL,
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PI_PARA_MOT_CPU_Z = 0x000000EUL,
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PI_PARA_MOT_CPU_N = 0x000000FUL,
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PI_PARA_MOT_HAT_REF = 0x0000014UL,
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PI_PARA_MOT_MAX_ACCEL = 0x000004AUL,
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PI_PARA_MOT_MAX_DECEL = 0x000004BUL
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};
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private:
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};
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#endif /* PIGCSMOTORCONTROLLER_H_ */
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