f7abbe6aa5
- Changes to makefiles SKIPPED: psi/dornier2.c psi/el734hp.c psi/el737driv.c psi/el737hpdriv.c psi/make_gen psi/makefile_alpha psi/psi.c psi/velodorn.c psi/velodorn.h psi/velodorn.w psi/hardsup/el737_utility.c psi/hardsup/makefile_alpha psi/tecs/makefile_alpha
63 lines
2.3 KiB
C
63 lines
2.3 KiB
C
/*--------------------------------------------------------------------------
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SICS needs to run motors. This is where this happens.
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Mark Koennecke, November 1996
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copyright: see implementation file
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----------------------------------------------------------------------------*/
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#ifndef SICSMOTOR
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#define SICSMOTOR
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#include "Scommon.h"
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#include "obpar.h"
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#include "modriv.h"
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#include "obdes.h"
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#include "interface.h"
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typedef struct __Motor {
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pObjectDescriptor pDescriptor;
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ObPar *ParArray;
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pIDrivable pDrivInt;
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pICallBack pCall;
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char *drivername;
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char *name;
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MotorDriver *pDriver;
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float fTarget;
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float fPosition;
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long endScriptID;
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int posCount; /* counter for calling the
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motor callback */
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int retryCount; /* for retries in status */
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int posFaultCount;
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} Motor;
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typedef Motor *pMotor;
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/*-------------------------------------------------------------------------*/
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/* parameter management */
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int MotorGetPar(pMotor self, char *name, float *fVal);
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int MotorSetPar(pMotor self, SConnection *pCon, char *name, float fVal);
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/* driving */
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long MotorRun(void *self, SConnection *pCon, float fNew);
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int MotorCheckBoundary(pMotor self, float fVal, float *fHard,
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char *error, int iErrLen);
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int MotorCheckPosition(void *self, SConnection *pCon);
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/* Where are we ? */
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int MotorGetSoftPosition(pMotor self,SConnection *pCon, float *fVal);
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int MotorGetHardPosition(pMotor self,SConnection *pCon, float *fVal);
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/* creation */
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int MotorCreate(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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pMotor MotorInit(char *drivername,char *name, MotorDriver *pDriv);
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void MotorKill(void *self);
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/* interface to interpreter */
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int MotorAction(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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pMotor FindMotor(SicsInterp *pSics, char *name);
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#endif
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