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
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
/*
|
|
FILENAME... PIHexapodController.h
|
|
|
|
*************************************************************************
|
|
* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
|
|
* This file is distributed subject to the EPICS Open License Agreement
|
|
* found in the file LICENSE that is included with this distribution.
|
|
*************************************************************************
|
|
|
|
|
|
Original Author: Steffen Rau
|
|
*/
|
|
|
|
#ifndef PIGCS2_HEXAPODCONTROLLER_H_
|
|
#define PIGCS2_HEXAPODCONTROLLER_H_
|
|
|
|
#include "PIHexapodController.h"
|
|
|
|
/**
|
|
* class representing PI GCS2 Hexapods.
|
|
*/
|
|
class PIGCS2_HexapodController : public PIHexapodController
|
|
{
|
|
public:
|
|
PIGCS2_HexapodController(PIInterface* pInterface, const char* szIDN)
|
|
: PIHexapodController(pInterface, szIDN)
|
|
{
|
|
}
|
|
~PIGCS2_HexapodController() {}
|
|
|
|
virtual asynStatus setVelocityCts( PIasynAxis* pAxis, double velocity );
|
|
virtual asynStatus getAxisVelocity(PIasynAxis* pAxis);
|
|
virtual asynStatus referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards);
|
|
virtual asynStatus getAxisPosition(PIasynAxis* pAxis, double& position)
|
|
{
|
|
return PIGCSController::getAxisPosition(pAxis, position);
|
|
}
|
|
virtual bool AcceptsNewTarget() { return true; }
|
|
virtual bool CanCommunicateWhileHoming() { return true; }
|
|
|
|
protected:
|
|
virtual const char* GetReadPivotCommand() { return "SPI? R S T"; }
|
|
private:
|
|
};
|
|
|
|
#endif /* PIGCS2_HEXAPODCONTROLLER_H_ */
|