// MotionController_8164.h: interface for the CMotionController_8164 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLER_8164_H__61361DEA_CC47_417B_987E_134B0ECE1E0C__INCLUDED_)
#define AFX_MOTIONCONTROLLER_8164_H__61361DEA_CC47_417B_987E_134B0ECE1E0C__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Pci_8164.h"
#include "MotionControllerBase.h"

class CMotionController_8164 : public CMotionControllerBase
{
public:
    CMotionController_8164(int index);
    virtual ~CMotionController_8164();

    virtual BOOL Init(int &nNoOfMtr);
    virtual void Close();

// get the IOs status of the motor
    virtual unsigned short GetMotionIOStatus(CMtrProfile mtrProfile);

//  get Motion status of motor
    virtual int GetMotionStatus(CMtrProfile mtrProfile);

//  get Motor Pos value
    virtual double GetMtrPos(CMtrProfile mtrProfile);

//  get position error value
    virtual double GetPosErr(CMtrProfile mtrProfile);

//  check if motor is at home sensor position
    virtual BOOL IsHomed(CMtrProfile mtrProfile);

// check motor in position signal
    virtual BOOL IsInPosition(CMtrProfile mtrProfile);

// check if motor negative/ccw limit is triggered
    virtual BOOL IsNegLimHit(CMtrProfile mtrProfile);

// check if motor positive/cw limit hit
    virtual BOOL IsPosLimHit(CMtrProfile mtrProfile);

//  check if motor driver alarm
    virtual BOOL IsMotorAlarm(CMtrProfile mtrProfile);

//  check if motor is ready
    virtual BOOL IsMotorReady(CMtrProfile mtrProfile);

//  check if motor is on
    virtual BOOL IsMtrOn(CMtrProfile mtrProfile);
};

#endif // !defined(AFX_MOTIONCONTROLLER_8164_H__61361DEA_CC47_417B_987E_134B0ECE1E0C__INCLUDED_)