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implement tclmot

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r3801 | jgn | 2012-11-13 16:40:59 +1100 (Tue, 13 Nov 2012) | 1 line
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Jing Chen
2012-11-13 16:40:59 +11:00
committed by Douglas Clowes
parent 74c4995b4b
commit 5db1373881
1 changed files with 0 additions and 50 deletions
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site_ansto/jgn-tclmotdriv.h
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/*---------------------------------------------------------------------------
This is a motor driver which is implemented in Tcl. This means
this code is only a wrapper which calls Tcl functions to do the
actual work.
copyright: see file COPYRIGHT
Mark Koennecke, December 2005
--------------------------------------------------------------------------*/
#ifndef TCLMOTDRIV
#define TCLMOTDRIV
#include "stringdict.h"
typedef struct ___TclDriv {
/* general motor driver interface
fields. REQUIRED!
*/
float fUpper; /* upper limit */
float fLower; /* lower limit */
char *name;
int (*GetPosition)(void *self,float *fPos);
int (*RunTo)(void *self, float fNewVal);
int (*GetStatus)(void *self);
void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
int (*TryAndFixIt)(void *self,int iError, float fNew);
int (*Halt)(void *self);
int (*GetDriverPar)(void *self, char *name,
float *value);
int (*SetDriverPar)(void *self,SConnection *pCon,
char *name, float newValue);
void (*ListDriverPar)(void *self, char *motorName,
SConnection *pCon);
void (*KillPrivate)(void *self);
/* Tcl specific fields */
pStringDict mappings;
int errorCode;
char tclError[1024];
char motName[132];
float speed; /**< physical units per second */
float accel; /**< physical units per second^2 */
float decel; /**< physical units per second^2 */
char long_name[256]; /**< long name of motor */
char units[256]; /**< physical units for axis */
} TCLDriv;
MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[]);
#endif