a91056837e
- Fixed timeout for pimotor - Fixed a bug which could cause tabledrive to go into an endless loop
55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
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/*---------------------------------------------------------------------------
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SICS object for driving a couple of motors along a tabulated given path.
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copyright: see file COPYRIGHT
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Mark Koennecke, July 2005
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---------------------------------------------------------------------------*/
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#ifndef SICSTABLEDRIVE
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#define SICSTABLEDRIVE
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#include <sics.h>
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#include "../motor.h"
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/*-------------------------------------------------------------------------*/
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typedef struct{
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double lower, position, upper;
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int tablePos;
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}tdEntry, *ptdEntry;
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/*-------------------------------------------------------------------------*/
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typedef struct {
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char motorName[132];
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int table;
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pMotor pMot;
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}tdMotor, *ptdMotor;
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/*-------------------------------------------------------------------------*/
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typedef struct{
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pObjectDescriptor pDes;
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pIDrivable pDriv;
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int motorTable;
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int tableLength;
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float targetPosition;
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float currentPosition;
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int state;
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char orientMotor[80];
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int debug;
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tdMotor oriMotor;
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int oriInvalid;
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}TableDrive, *pTableDrive;
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/*-------------------------------------------------------------------------*/
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int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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#endif
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