- 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

pimotor.w

@@ -0,0 +1,49 @@
+\subsubsection{Physik Instrumente DC-Motor Controller}
+This is a mainly a driver for a C-804 DC-motor Controller as produced by the
+Company Physik Instrumente. This controller drives up to four high precision
+motors. These motors do not have reference points and have variable speeds.
+Therefore some additional code is needed to handle motor specific commands.
+This problem is solved by handling these specific additional commands in a
+new wrapper routine which finally calls the main motor wrapper routine for
+all the other commands. Of course, a special factory method is needed for
+this device as well.
+
+The public interface for this motor includes the following functions:
+
+@d pimoti @{
+
+  int PIMotorWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
+                     int argc, char *argv[]);
+  int PIMotorFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
+                     int argc, char *argv[]);
+
+  int PISetSpeed(pMotor self, SConnection *pCon, float fNew);
+  int PIGetSpeed(pMotor self, SConnection *pCon, float *fVal);
+
+  int PIHome(pMotor self, SConnection *pCon);
+@}  
+
+@o pimotor.h @{
+/*--------------------------------------------------------------------------
+                           P I M O T O R
+
+  Driver and add on code for the Physik Instrument Motor Controller C-804.
+  
+  Mark Koennecke, September 1998
+----------------------------------------------------------------------------*/
+#ifndef PIMOTOR
+#define PIMOTOR
+#include <motor.h>
+@<pimoti@>
+#endif
+
+@}
+
+
+\subsubsection{Physik Instrument Piezo Controller E-255}
+This is piezo translator. A voltage is set and it elongates. It is
+handled as a motor because it is going to be scanned. A  driver has
+been  implemented in the file pipiezo.c. For
+the command protocoll, see the documentation coming with the gadget. 
+ 
+