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

ecb.w

@@ -14,6 +14,11 @@ This module now implements three basic functionalities of the ECB:
 \item Write some memory
 \end{itemize}
 
+This module also takes care of the encoder assignment for the ECB. The
+ECB can  have up to three encoders which can be assigned to motors. As
+a single motor driver does not know about the assignments of the other
+motors, the task of encoder assignement is handled in this module. 
+
 WARNING: this module contains code which may be endian dependend!
 
 In order to do this we need the following data structure:
@@ -25,6 +30,8 @@ In order to do this we need the following data structure:
 			int ecbAddress;
 			int ecbDeviceID;
 			int lastError;
+                        int encoder[3];
+			int encoderDirty;
 			}ECB;
 @}
 The fields:
@@ -36,6 +43,10 @@ The fields:
 \item[ecbDeviceID] The device ID assigned to the ECB when the ECB has
 been attached to. 
 \item[lastError] The last error which occurred.
+\item[encoder] An array holding the motor numbers assigned to the
+three encoder.
+\item[encoderDirty] is a flag which is set to true if a download of
+the encoder assignments is necessary.
 \end{description}
 
 A function in the ECB is executed by sending a function number first,
@@ -63,7 +74,13 @@ The function interface then looks like:
 		    void *buffer, int byteCount);
         void ecbClear(pECB self);
 	int fixECBError(pECB self);
-	void ecbErrorDescription(pECB self, char *buffer, int maxBytes);
+	void ecbErrorDescription(pECB self, char *buffer,
+                                 int maxBytes);
+	int ecbAssignEncoder(pECB self, int encoder, int motorNumber);
+	int ecbLoadEncoder(pECB self);
+
+
+
 
 @}
 \begin{description}
@@ -79,6 +96,8 @@ ECB's memory space and not the GPIB address.
 \item[fixECBError] tries to fix the last ECB error.
 \item[ecbErrorDescription] retrieves a text description of the last
 ECB problem. Max maxBytes of description are copied into buffer.
+\item[assignEncoder] assigns an encoder to a motor number.
+\item[loadEncoder] downloads the encoder assignment to the ECB if necessary. 
 \end{description}