diff --git a/confvirtualmot.w b/confvirtualmot.w index f7eb1c95..5a8110da 100644 --- a/confvirtualmot.w +++ b/confvirtualmot.w @@ -12,11 +12,14 @@ This objects data structure: typedef struct __CONFVIRTMOT { pObjectDescriptor pDes; pIDrivable pDriv; + pICallBack pCall; + char *name; char *scriptName; char *readScript; int motorList; float targetValue; int targetReached; + int posCount; char scriptError[512]; int parseOK; }ConfigurableVirtualMotor, *pConfigurableVirtualMotor; @@ -25,11 +28,14 @@ The fields are: \begin{description} \item[pDes] The standard object descriptor. \item[pDriv] The drivable interface +\item[pCall] The callback interface +\item[name] The name of the virtual motor \item[scriptName] The name of the program to calculate the new positions of the real motors. \item[readScript] A script to read back the current value of the virtual motor. \item[motorList] A list of the motors to start and control. \item[targetValue] The target value we wanted to have. +\item[posCount] This counter prevents the callback from being invoked too often. The frequency is currently set to every 10 cycles through the task loop. \item[targetReached] A flag which becomes true when a check has showed that all desired motors have reached their targets. \item[scriptError] A temporary buffer holding all errors encountered