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- First working version of the triple axis UB matrix code

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This commit is contained in:
koennecke
2005-05-13 07:40:57 +00:00
parent d0a535faa3
commit 6145b513f8
16 changed files with 1681 additions and 527 deletions
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15
tasub.h
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@ -15,9 +15,6 @@
#include "motor.h"
/*------------------- defines for tasMode -----------------------------------*/
#define KICONST 1
#define KFCONST 2
/*-----------------------------------------------------------------------------*/
typedef struct{
pObjectDescriptor pDes;
tasMachine machine;
@ -33,16 +30,6 @@
}tasUB, *ptasUB;
/*----------------------- defines for virtual motors -----------------------------*/
#define EI 1
#define KI 2
#define QH 3
#define QK 4
#define QL 5
#define EF 6
#define KF 7
#define EN 8
#define QM 9
/*--------------------- the tas virtual motor data structure ---------------------*/
typedef struct {
pObjectDescriptor pDes;
@ -57,8 +44,6 @@ int TasUBFactory(SConnection *pCon,SicsInterp *pSics, void *pData,
int argc, char *argv[]);
int TasUBWrapper(SConnection *pCon,SicsInterp *pSics, void *pData,
int argc, char *argv[]);
int TasMot(SConnection *pCon,SicsInterp *pSics, void *pData,
int argc, char *argv[]);
#endif