PSI sics-cvs-psi_pre-ansto

lin2ang.w

@@ -0,0 +1,57 @@
+\subsection{lin2ang}
+lin2ang is a virtual motor object which allows to drive an angle
+through a translation table. In ist first incarnation this is meant
+for TOPSI but this may be useful in other places as well. The
+displacement x is calculated from the formula: $ x = L sin 2\theta $
+with L being the length of the arm  around which the angle
+pivots. This must be a configurable parameter. 
+
+lin2ang's datastructure is quite simple:
+\begin{verbatim}
+ typedef struct __LIN2ANG {
+                             pObjectDescriptor pDes;
+                             pIDrivable pDriv;
+                             pMotor lin;
+                             float length;
+                }Lin2Ang;
+\end{verbatim}
+The fields are:
+\begin{description}
+\item[pDes] The standard SICS object descriptor.
+\item[pDriv] The drivable interface which hides most of the
+functionality of this object.
+\item[lin] The translation table motor to use for driving the angle.
+\item[length] The length of the arm around which the angle pivots.  
+\end{description}
+
+The interface to this is quite simple, most of the functionality is
+hidden in the drivable interface. Basically there are only the
+interpreter interface functions.
+
+@d lin2angint @{
+  int MakeLin2Ang(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]);
+  int Lin2AngAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]);
+
+@}
+
+@o lin2ang.h @{
+/*-------------------------------------------------------------------------
+                          L I N 2 A N G
+
+  Drive an angle through a translation table. As of now only for
+  TOPSI.
+
+  copyright: see copyright.h
+
+  Mark Koennecke, February 2000
+--------------------------------------------------------------------------*/
+#ifndef LIN2ANG
+#define LIN2ANG
+#include "motor.h"
+@<lin2angint@>
+#endif
+
+@}
+