- Added tabledrive: table driven path for MARS

- Initial MARS development
- Upgraded Manager Manual

tabledrive.h

@@ -0,0 +1,53 @@
+
+ /*---------------------------------------------------------------------------
+  SICS object for driving a couple of motors along a tabulated given path.
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, July 2005
+---------------------------------------------------------------------------*/
+#ifndef SICSTABLEDRIVE
+#define SICSTABLEDRIVE
+#include <sics.h>
+#include "../motor.h"
+/*-------------------------------------------------------------------------*/
+
+typedef struct{
+        double lower, position, upper;
+        int tablePos;
+        }tdEntry, *ptdEntry;
+ 
+/*-------------------------------------------------------------------------*/
+
+typedef struct {
+        char motorName[132];
+        int table;
+        pMotor pMot;
+        }tdMotor, *ptdMotor;    
+
+/*-------------------------------------------------------------------------*/
+
+typedef struct{
+        pObjectDescriptor pDes;
+        pIDrivable pDriv;
+        int motorTable;
+        int tableLength;
+        float targetPosition;
+        float currentPosition;
+        int state;
+        char orientMotor[80];
+        int debug;
+        }TableDrive, *pTableDrive;
+
+/*-------------------------------------------------------------------------*/
+
+int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
+                        int argc, char *argv[]);
+int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+                        int argc, char *argv[]);
+ 
+ 
+
+#endif
+
+