- ECB motors without encoders, with encoders and with control bits now work

ecb.c

@@ -325,6 +325,49 @@ int ECBAction(SConnection *pCon, SicsInterp *pSics, void *pData,
     return 0;
   }
 }
+/*---------------------------------------------------------------------*/
+int ecbAssignEncoder(pECB self, int encoder, int motorNumber){
+
+  if(encoder <= 0 || encoder > 3){
+    return 0;
+  }
+
+  self->encoder[encoder-1] = motorNumber;
+  self->encoderDirty = 1;
+  return 1;
+}
+/*----------------------------------------------------------------------*/
+int ecbLoadEncoder(pECB self){
+  Z80_reg in, out;
+  int status;
+
+  if(self->encoderDirty != 1){
+    /*
+      no need to do it if no change 
+    */
+    return 1;
+  }
+
+  if(self->encoder[0] != 0){
+    in.d = self->encoder[0];
+  }else {
+    in.d = 0;
+  }
+  if(self->encoder[1] != 0){
+    in.e = self->encoder[1];
+  }else {
+    in.e = 0;
+  }
+  if(self->encoder[2] != 0){
+    in.b = self->encoder[2];
+  }else {
+    in.b = 0;
+  }
+  in.c = 1;
+
+  status = ecbExecute(self,152,in,&out);
+  return status;
+}
 /*-----------------------------------------------------------------------*/
 void ECBKill(void *pData){
   pECB self = (pECB)pData;
@@ -345,7 +388,9 @@ void ECBKill(void *pData){
   }
   free(self);
 }
-/*----------------------------------------------------------------------*/
+/*----------------------------------------------------------------------
+MakeECB name gpibcontroller boardNo gpib-address
+  -----------------------------------------------------------------------*/
 int MakeECB(SConnection *pCon, SicsInterp *pSics, void *pData,
 	    int argc, char *argv[]){
   pECB self = NULL;