- First working version of the TRICS collision protection module

2002-08-14 14:24:00 +00:00
parent a59f15d5f0
commit 3ba5f28b65
35 changed files with 1427 additions and 77 deletions
--- a/motreg.h
+++ b/motreg.h
@ -0,0 +1,52 @@
+
+/*-------------------------------------------------------------------------
+                        R e g M o t
+
+  This is  a helper module for the Anti Collider. It handles all the
+  stuff necessary for dealing with a single motor. For more
+  information see the file anticollider.tex.
+
+  copyright: see file copyright
+ 
+  Mark Koennecke, August 2002
+-----------------------------------------------------------------------*/
+#ifndef REGMOT
+#define REGMOT
+#include "sics.h"
+
+
+
+typedef struct __MOTREG {
+                void *motorData;
+                char *motorName;
+                float targetPosition;
+                long (*originalSetValue)(void *motorData,
+                                         SConnection *pCon,
+                                         float fTarget);
+                int (*originalCheckStatus)(void *motorData,
+                                         SConnection *pCon);
+                int iActive;
+        } MotReg, *pMotReg;
+
+
+/*----------------------------------------------------------------------*/
+
+   pMotReg RegisterMotor(char *name, SicsInterp *pSics,
+        long (*SetValue)(void *pData, SConnection *pCon, float
+                                                     fTarget),
+        int (*CheckStatus)(void *pData, SConnection *pCon));
+   void KillRegMot(void *self);
+
+   void SetRegMotTarget(pMotReg self, float target);
+   void CreateTargetString(pMotReg self, char pBueffel[80]); 
+
+   int RegMotMatch(pMotReg self, char *name); 
+
+   int StartRegMot(pMotReg self, SConnection *pCon, float fValue);
+
+   int CheckRegMot(pMotReg self, SConnection *pCon);
+ 
+
+
+#endif
+