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
88 lines
2.8 KiB
C++
88 lines
2.8 KiB
C++
/*
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FILENAME... PIHexapodController.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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*/
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#ifndef PIHEXAPODCONTROLLER_H_
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#define PIHEXAPODCONTROLLER_H_
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#include "PIGCSController.h"
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/**
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* class representing PI Hexapods.
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*/
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class PIHexapodController : public PIGCSController
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{
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public:
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PIHexapodController(PIInterface* pInterface, const char* szIDN)
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: PIGCSController(pInterface, szIDN)
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{
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}
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~PIHexapodController() {}
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virtual asynStatus init(void);
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virtual asynStatus initAxis(PIasynAxis* pAxis);
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virtual asynStatus setVelocityCts( PIasynAxis* pAxis, double velocity )
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{
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return PIGCSController::setVelocityCts(pAxis, velocity);
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}
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virtual asynStatus setAccelerationCts( PIasynAxis* pAxis, double acceleration) { return asynSuccess; }
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virtual asynStatus setAcceleration( PIasynAxis* pAxis, double acceleration) { return asynSuccess; }
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virtual asynStatus getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl);
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virtual asynStatus getGlobalState(asynMotorAxis** Axes, int numAxes);
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virtual asynStatus getTravelLimits(PIasynAxis* pAxis, double& negLimit, double& posLimit)
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{
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negLimit = -100;
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posLimit = 100;
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return asynSuccess;
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}
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virtual asynStatus getReferencedState(PIasynAxis* pAxis);
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virtual asynStatus haltAxis(PIasynAxis* pAxis);
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virtual bool AcceptsNewTarget() { return !m_bAnyAxisMoving; }
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virtual bool CanCommunicateWhileHoming() { return false; }
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virtual asynStatus moveCts( PIasynAxis* pAxis, int target);
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virtual asynStatus moveCts( PIasynAxis** pAxesArray, int* pTargetCtsArray, int numAxes);
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virtual asynStatus getAxisPosition(PIasynAxis* pAxis, double& position);
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virtual asynStatus SetPivotX(double value);
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virtual asynStatus SetPivotY(double value);
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virtual asynStatus SetPivotZ(double value);
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virtual double GetPivotX() { return m_PivotX; }
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virtual double GetPivotY() { return m_PivotY; }
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virtual double GetPivotZ() { return m_PivotZ; }
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virtual asynStatus referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards);
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protected:
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virtual asynStatus findConnectedAxes();
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virtual const char* GetReadPivotCommand() { return "SPI? RST"; }
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asynStatus ReadPivotSettings();
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asynStatus SetPivot(char cAxis, double value);
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double m_PivotX;
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double m_PivotY;
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double m_PivotZ;
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bool m_bHoming;
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private:
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bool m_bCanReadStatusWithChar4;
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bool m_bCanReadPosWithChar3;
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};
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#endif /* PIHEXAPODCONTROLLER_H_ */
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