84 lines
3.8 KiB
C
84 lines
3.8 KiB
C
/*------------------------------------------------------------------------
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Header file for an EL734 motor driver
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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 SICSEL734
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#define SICSEL734
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#include "SCinter.h"
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#define MOTREDO -1
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#define MOTFAIL 0
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#define MOTOK 1
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#define TEXTPARLEN 1024
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typedef struct __AbstractMoDriv {
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/* general motor driver interface
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fields. REQUIRED!
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*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self, float *fPos);
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int (*RunTo)(void *self,float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self, int iError,float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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int (*GetDriverTextPar)(void *self, char *name,
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char *textPar);
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} MotorDriver;
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/* the first fields above HAVE to be IDENTICAL to those below */
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typedef struct ___MoSDriv {
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/* general motor driver interface
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fields. REQUIRED!
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*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self,float *fPos);
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int (*RunTo)(void *self, float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self,int iError, float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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int (*GetDriverTextPar)(void *self, char *name,
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char *textPar);
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/* Simulation specific fields */
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float fFailure; /* percent random failures*/
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float fSpeed;
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time_t iTime;
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float fPos; /* position */
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float fTarget; /* target position */
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} SIMDriv;
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/* ----------------------- Simulation -----------------------------------*/
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MotorDriver *CreateSIM(SConnection *pCon, int argc, char *argv[]);
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void KillSIM(void *pData);
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MotorDriver *RGMakeMotorDriver(void);
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#endif
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