Initial revision

2000-02-07 10:38:55 +00:00
commit fdc6b051c9
846 changed files with 230218 additions and 0 deletions
--- a/motor.h
+++ b/motor.h
@ -0,0 +1,57 @@
+/*--------------------------------------------------------------------------
+	SICS needs to run motors. This is where this happens.
+	
+	Mark Koennecke, November 1996
+	
+	copyright: see implementation file
+	
+----------------------------------------------------------------------------*/
+#ifndef SICSMOTOR
+#define SICSMOTOR
+#include "Scommon.h"
+#include "obpar.h"
+#include "modriv.h"
+#include "obdes.h"
+#include "interface.h"
+
+  typedef struct __Motor {
+			  pObjectDescriptor pDescriptor;                          
+                          ObPar *ParArray;
+                          pIDrivable pDrivInt;
+                          pICallBack pCall;
+                          char *drivername;
+                          char *name;
+                          MotorDriver *pDriver;
+                          float fTarget;
+                          float fPosition;
+                          } Motor;
+   typedef Motor *pMotor;
+/*-------------------------------------------------------------------------*/      
+
+/* parameter management */
+   int  MotorGetPar(pMotor self, char *name, float *fVal);
+   int  MotorSetPar(pMotor self, SConnection *pCon, char *name, float fVal);
+
+/* driving */
+   long MotorRun(void *self, SConnection *pCon, float fNew);
+   int MotorCheckBoundary(pMotor self, float fVal, float *fHard,
+                          char *error, int iErrLen);  
+   int MotorCheckPosition(void *self, SConnection *pCon);
+   
+/* Where are we ? */
+   int MotorGetSoftPosition(pMotor self,SConnection *pCon, float *fVal);
+   int MotorGetHardPosition(pMotor self,SConnection *pCon, float *fVal);
+                                       
+/* creation */
+   int MotorCreate(SConnection *pCon, SicsInterp *pSics, void *pData,
+                   int argc, char *argv[]);
+   pMotor MotorInit(char *drivername,char *name, MotorDriver *pDriv);
+   void   MotorKill(void *self);
+
+/* interface to interpreter */
+   int MotorAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+                   int argc, char *argv[]);
+   pMotor FindMotor(SicsInterp *pSics, char *name);                   
+                   
+#endif
+