forked from epics_driver_modules/motorBase
Ron Sluiter
51 lines
1.5 KiB
C++
51 lines
1.5 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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Version: $Revision: 1$
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Modified By: $Author: Steffen Rau$
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Last Modified: $Date: 05.11.2013 17:38:06$
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HeadURL: $URL$
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Original Author: Steffen Rau
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*/
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#ifndef PIGCS2_HEXAPODCONTROLLER_H_
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#define PIGCS2_HEXAPODCONTROLLER_H_
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#include "PIHexapodController.h"
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/**
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* class representing PI GCS2 Hexapods.
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*/
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class PIGCS2_HexapodController : public PIHexapodController
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{
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public:
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PIGCS2_HexapodController(PIInterface* pInterface, const char* szIDN)
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: PIHexapodController(pInterface, szIDN)
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{
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}
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~PIGCS2_HexapodController() {}
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virtual asynStatus setVelocityCts( PIasynAxis* pAxis, double velocity );
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virtual asynStatus getAxisVelocity(PIasynAxis* pAxis);
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virtual asynStatus referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards);
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virtual asynStatus getAxisPosition(PIasynAxis* pAxis, double& position)
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{
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return PIGCSController::getAxisPosition(pAxis, position);
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}
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virtual bool AcceptsNewTarget() { return true; }
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virtual bool CanCommunicateWhileHoming() { return true; }
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protected:
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virtual const char* GetReadPivotCommand() { return "SPI? R S T"; }
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private:
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};
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#endif /* PIGCS2_HEXAPODCONTROLLER_H_ */
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