koennecke
af4d16d25f
with a motor axis. To this purpose a new derived class SINQAxis and SINQController were added which other drivers using this feature can derive from. The proof of concept and test platform is the EL734 driver.
61 lines
1.6 KiB
C++
61 lines
1.6 KiB
C++
/*
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FILENAME... EL734Driver.h
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USAGE... Motor driver support for the PSI EL734 controller.
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Mark Koennecke
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February 2013
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*/
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#include "SINQController.h"
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#include "SINQAxis.h"
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#define MAX_EL734_AXES 12
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#define COMLEN 80
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class EL734Axis : 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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EL734Axis(class EL734Controller *pC, int axis);
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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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private:
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EL734Controller *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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int oredMSR;
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double position;
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int homing;
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time_t next_poll;
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int ErrTxtIdx;
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void forwardErrorTxt(EL734Axis *axis);
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friend class EL734Controller;
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};
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class EL734Controller : public SINQController {
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public:
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EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
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void report(FILE *fp, int level);
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EL734Axis* getAxis(asynUser *pasynUser);
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EL734Axis* getAxis(int axisNo);
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friend class EL734Axis;
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private:
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asynUser *pasynUserController_;
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asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
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void switchRemote();
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};
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