78 lines
3.0 KiB
C
78 lines
3.0 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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#define MOTOBPARLENGTH 12
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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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ObjectFunc pActionRoutine;
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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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int stopped;
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int moving; /* for enabling MOTDRIVE/MOTEND reporting */
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double last_report_time;
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} Motor;
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typedef Motor *pMotor;
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/*------------------------------------------------------------------------
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a tiny structure used in CallBack work
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--------------------------------------------------------------------------*/
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typedef struct {
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float fVal;
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char *pName;
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} MotCallback;
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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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float MotorHardToSoftPosition(pMotor self, float fHard);
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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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/* Made available to oscillate.c to generate MOTEND event. Ferdi */
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void finishDriving(pMotor self, SConnection *pCon);
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#endif
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