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50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
/*
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FILENAME... MCB4BDriver.h
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USAGE... Motor driver support for the ACS MCB-4B controller.
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Mark Rivers
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March 1, 2012
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*/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#define MAX_MCB4B_AXES 4
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// No controller-specific parameters yet
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#define NUM_MCB4B_PARAMS 0
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class epicsShareClass MCB4BAxis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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MCB4BAxis(class MCB4BController *pC, int axis);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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MCB4BController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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asynStatus sendAccelAndVelocity(double accel, double velocity);
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friend class MCB4BController;
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};
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class epicsShareClass MCB4BController : public asynMotorController {
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public:
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MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
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void report(FILE *fp, int level);
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MCB4BAxis* getAxis(asynUser *pasynUser);
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MCB4BAxis* getAxis(int axisNo);
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friend class MCB4BAxis;
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};
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