forked from epics_driver_modules/motorBase
MarkRivers
66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
/*
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FILENAME... MVP2001Driver.h
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USAGE... Motor driver support for the MicroMo MVP2001 controller.
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Kevin Peterson
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August 14, 2013
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*/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#define MAX_MVP2001_AXES 32 /* motor.h sets the maximum number of axes */
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#define BUFF_SIZE 20 /* Maximum length of string to/from MVP2001 */
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// No controller-specific parameters yet
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#define NUM_MVP2001_PARAMS 0
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class epicsShareClass MVP2001Axis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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MVP2001Axis(class MVP2001Controller *pC, int axisNo, int encLPR, int maxCurr, int limPol);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setPGain(double pGain);
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asynStatus setIGain(double iGain);
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asynStatus setDGain(double dGain);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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MVP2001Controller *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 axisIndex_;
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double stepsPerRev_;
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int encoderLinesPerRev_;
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int maxCurrent_;
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int samplePeriod_;
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int limitPolarity_;
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asynStatus sendAccelAndVelocity(double accel, double velocity);
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friend class MVP2001Controller;
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};
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class epicsShareClass MVP2001Controller : public asynMotorController {
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public:
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MVP2001Controller(const char *portName, const char *MVP2001PortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
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void report(FILE *fp, int level);
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MVP2001Axis* getAxis(asynUser *pasynUser);
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MVP2001Axis* getAxis(int axisNo);
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private:
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char buff_[BUFF_SIZE];
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asynStatus writeRead2xController();
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asynStatus writeRead2xController(const char *output, char *response, size_t maxResponseLen, size_t *responseLen, double timeout);
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void parseReply(char *inString, int *val, int nchars);
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friend class MVP2001Axis;
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};
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