PSI sics-cvs-psi-2006

motorlist.h

@@ -0,0 +1,34 @@
+
+/*----------------------------------------------------------------------
+  Support module which manages a list of motors and their target values
+  when running complex movements. See accompanying tex file for
+  more info.
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, September 2005
+-----------------------------------------------------------------------*/
+#ifndef SICSMOTLIST
+#define SICSMOTLIST
+#include "sics.h"
+
+typedef struct{
+        char name[80];
+        float target;
+        float position;
+        pIDrivable pDriv;
+        void *data;
+        int running;
+}MotControl, *pMotControl;
+
+/*======================================================================*/
+
+pIDrivable makeMotListInterface();
+int addMotorToList(int listHandle, char *name, float targetValue);
+int setNewMotorTarget(int listHandle, char *name, float value);
+int getMotorFromList(int listHandle, char *name, pMotControl tuk);
+float      getListMotorPosition(int listHandle, char *name);
+void printMotorList(int listHandle, SConnection *pCon); 
+
+#endif
+