- Rearranged directory structure for forking out ANSTO

- Refactored site specific stuff into a site module
- PSI specific stuff is now in the PSI directory.
- The old version has been tagged with pre-ansto

ecbdriv.h

@@ -0,0 +1,45 @@
+/*------------------------------------------------------------------------
+  this is a motor driver for the Risoe motor controllers within the
+  ECB system. The motor is controlled through functions invoked in the
+  Z80 processor of the ECB system which is connected through a GPIB
+  bus to the wider world. This driver has to do a lot of extra things:
+  - it has to convert from physical values to motor steps.
+  - Quite a few parameters, such as ramping parameters,
+    have to be downloaded to the ECB
+  - Risoe motors may have a virtual encoder or a real encoder. 
+  - The motor may have to control air cushions as well.
+  - Tricky backlash handling. Backlash handling ensures that a position is
+    always arrived at from a defined direction. If backlash is applied
+    a restart flag is set in ECBRunTo. ECBGetStatus checks for that and
+    causes the motor to drive back to the position actually desired. 
+
+  This driver support only P2048a motor controllers, as these are the
+  only ones which seem to have arrived at PSI. The P1648 and Tridynamic 
+  things are not supported. 
+
+  Multiplexed motors: Originally the ECB supported 24 motors. This did 
+  prove to be not enough. Therefore another device called P2234e was 
+  introduced which allowed to run 8 motors from one controller port. In this 
+  case the motor parameters have to be copied to the ECB before 
+  driving the motor. Multiplexing is selected through the parameter MULT.
+  MULT 0 means no multiplexing, MULT > 0 makes MULT the number of the 
+  motor in the multiplexer. MULT is now also used to flag a download of
+  parameters to the ECB. In such a case  MULT is -1. 
+ 
+
+  Some of this code was taken from the tascom driver for the ECB.
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, January 2003
+  
+--------------------------------------------------------------------------*/
+#ifndef ECBDRIV
+#define ECBDRIV
+
+MotorDriver *CreateECBMotor(SConnection *pCon, int argc, char *argv[]);
+void        KillECBMotor(void *driver);
+
+#endif
+
+