koennecke
72afd02b4e
Added support for dose rate controlled Phytron motors. Not tested! Small bug fixes
110 lines
2.9 KiB
C++
110 lines
2.9 KiB
C++
/*
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FILENAME... PhytronDriver.h
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USAGE... Motor driver support for the Phytron MCC-2 motor controller.
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Mark Koennecke
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September 2016
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Updated to go through SINQAxis for -MsgTxt support
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Added a selector to support multiple phytrons on a connection
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Mark Koennecke, January 2019
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Added PhytronDoseAxis. The speed of this axis is controlled by the
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neutron dose rate fed in as analog signal
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Mark Koennecke, April 2023
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*/
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#include "SINQController.h"
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#include "SINQAxis.h"
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#define COMLEN 80
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class PhytronController;
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class PhytronDoseController;
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class PhytronAxis : public SINQAxis
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{
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public:
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/* These are the methods we override from the base class */
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PhytronAxis(class PhytronController *pC, int axis, int enc);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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int setBrake(int brakeIO);
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protected:
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char phytronChar;
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PhytronController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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double position;
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int homing;
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int homing_direction; /*1 forward, 0 backwards */
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time_t next_poll;
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int encoder;
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int haveBrake;
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int brakeIO;
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friend class PhytronController;
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};
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class PhytronDoseAxis : public PhytronAxis
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{
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// A special version of PhytronAxis where the speed is controlled by the neutron flux.
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public:
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PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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friend class PhytronDoseController;
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protected:
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char doseChar;
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PhytronDoseController *pC_;
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};
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class PhytronController : public SINQController {
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public:
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PhytronController(const char *portName, const char *PhytronPortName, const char *selector,
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int encX, int encY);
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void report(FILE *fp, int level);
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PhytronAxis* getAxis(asynUser *pasynUser);
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PhytronAxis* getAxis(int axisNo);
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friend class PhytronAxis;
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protected:
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asynUser *pasynUserController_;
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asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
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const char *selector;
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};
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class PhytronDoseController : public PhytronController {
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public:
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PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector,
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int encX, int encY);
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PhytronDoseAxis* getAxis(asynUser *pasynUser);
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PhytronDoseAxis* getAxis(int axisNo);
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friend class PhytronDoseAxis;
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protected:
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asynUser *pasynUserController_;
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const char *selector;
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};
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