Added a driver for the phytron MCC-2 motor controller. It now works against the

simulation.

sinqEPICSApp/src/PhytronDriver.h

@@ -0,0 +1,56 @@
+/*
+FILENAME...   PhytronDriver.h
+USAGE...      Motor driver support for the Phytron MCC-2 motor controller.
+
+Mark Koennecke
+September 2016
+
+*/
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+#define COMLEN 80
+
+class PhytronAxis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  PhytronAxis(class PhytronController *pC, int axis, int enc);
+  void report(FILE *fp, int level);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setPosition(double position);
+  asynStatus setClosedLoop(bool closedLoop);
+
+private:
+  char phytronChar;
+  PhytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
+  double position;
+  int homing;
+  time_t next_poll;
+  int encoder;
+  
+friend class PhytronController;
+};
+
+class PhytronController : public asynMotorController {
+public:
+  PhytronController(const char *portName, const char *PhytronPortName, int encX, int encY);
+
+  void report(FILE *fp, int level);
+  PhytronAxis* getAxis(asynUser *pasynUser);
+  PhytronAxis* getAxis(int axisNo);
+
+friend class PhytronAxis;
+ private:
+ asynUser *pasynUserController_;
+
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
+
+
+};