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README.md

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+# sinqmotor
+
+## Overview
+
+This library offers base classes for EPICS motor drivers ('sinqAxis' and 'sinqController') of PSI SINQ. These classes are extensions of the classes 'asynMotorAxis' and 'asynMotorController' from the 'asynMotor' framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.
+
+## Features
+
+sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of 'poll' is required
+
+### sinqController
+- 'stringifyAsynStatus': Convert the enum 'asynStatus' into a human-readable string.
+- 'errMsgCouldNotParseResponse': Write a standardized message if parsing a device response failed
+- 'paramLibAccessFailed': Write a standardized message if accessing the parameter library failed
+
+### sinqAxis
+- 'atFirstPoll': This function is executed once before the first poll. If it returns anything but 'asynSuccess', it retries.
+- 'poll': This is a wrapper around doPoll which performs some bookkeeping tasks before and after calling doPoll:
+  Before calling 'doPoll':
+  - Try to execute 'atFirstPoll' once (and retry, if that failed)
+  After calling 'doPoll':
+  - Reset 'motorStatusProblem_', 'motorStatusCommsError_' and 'motorMessageText_' if 'doPoll' returned 'asynSuccess'
+  - Run 'callParamCallbacks'
+  - Return the status of 'doPoll'
+- 'doPoll': This is an empty function which should be overwritten by concrete driver implementations.
+
+## How to build it
+
+The makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into '/ioc/modules' (using the PSI EPICS build system).Therefore it is sufficient to run 'make install -f Makefile' from the terminal. If you want to compile a new version, adjust the entry 'LIBVERSION' accordingly.
+
+To use the library when writing a concrete motor driver, include it in the makefile of your application /library the same way as other libraries such as e.g. 'asynMotor' by adding 'REQUIRED+=sinqMotor' to your Makefile.