Initial commit of SINQ EPICS Application

sinqEPICSApp/src/pmacAxis.h

@@ -0,0 +1,61 @@
+/********************************************
+ *  pmacAxis.cpp
+ * 
+ *  PMAC Asyn motor based on the 
+ *  asynMotorAxis class.
+ * 
+ *  Matthew Pearson
+ *  23 May 2012
+ * 
+ ********************************************/
+
+#ifndef pmacAxis_H
+#define pmacAxis_H
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+class pmacController;
+
+class pmacAxis : public asynMotorAxis
+{
+  public:
+  /* These are the methods we override from the base class */
+  pmacAxis(pmacController *pController, int axisNo);
+  virtual ~pmacAxis();
+  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);
+  
+  private:
+  pmacController *pC_;
+  
+  asynStatus getAxisStatus(bool *moving);
+  asynStatus getAxisInitialStatus(void);
+
+  double setpointPosition_;
+  double encoderPosition_;
+  double currentVelocity_;
+  double velocity_;
+  double accel_;
+  double highLimit_;
+  double lowLimit_;
+  double scale_;
+  double previous_position_;
+  int previous_direction_;
+  int encoder_axis_;
+  int axisErrorCount;
+
+  time_t startTime;
+  time_t status6Time;
+  int starting;
+  int homing;
+
+  friend class pmacController;
+};
+
+
+#endif /* pmacAxis_H */