// MotionController_8134.h: interface for the CMotionController_8134 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLER_8134_H__F2664347_E0A4_4C40_88E3_AF6D113F06E5__INCLUDED_)
#define AFX_MOTIONCONTROLLER_8134_H__F2664347_E0A4_4C40_88E3_AF6D113F06E5__INCLUDED_

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

#include "Pci8134a.h"
#include "MotionControllerBase.h"

class CMotionController_8134 : public CMotionControllerBase  
{
public:
	CMotionController_8134();
	virtual ~CMotionController_8134();

	virtual BOOL Init(int nCardType, CArray<stCard, stCard>	&astCard, int &nNoOfMtr);
	virtual void Close(int nCardType);

	// 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 type is servo motor	
	virtual BOOL IsServoMtrType(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_8134_H__F2664347_E0A4_4C40_88E3_AF6D113F06E5__INCLUDED_)