/*--------------------------------------------------------------------------
----------------------------------------------------------------------------*/

#define MOTREDO -1
#define MOTFAIL  0
#define MOTOK    1

  typedef struct __AbstractMoDriv {
    /* general motor driver interface fields. REQUIRED! */
        float fUpper; /* upper limit */
        float fLower; /* lower limit */
        char *name;
        int   (*GetPosition)(void *self, float *fPos);
        int   (*RunTo)(void *self,float fNewVal);
        int   (*GetStatus)(void *self);
        void  (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
        int   (*TryAndFixIt)(void *self, int iError,float fNew);
        int   (*Halt)(void *self);
        int   (*GetDriverPar)(void *self, char *name, float *value);
        int   (*SetDriverPar)(void *self,SConnection *pCon, char *name, 
                float newValue);
        void   (*ListDriverPar)(void *self, char *motorName, SConnection *pCon);
        void   (*KillPrivate)(void *self);
  } MotorDriver;