// MotionController_7856.h: interface for the CMotionController_7856 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTIONCONTROLLER_7856_H__7EA80A57_50A0_4983_A3B7_8176E4504168__INCLUDED_)
#define AFX_MOTIONCONTROLLER_7856_H__7EA80A57_50A0_4983_A3B7_8176E4504168__INCLUDED_

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

#include "MotionControllerBase.h"

class CMotionController_7856 : public CMotionControllerBase
{
public:
	CMotionController_7856();
	virtual ~CMotionController_7856();

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

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

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

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

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

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

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

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

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

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

	//	check if Motor type is servo motor
	BOOL IsServoMtrType(CMtrProfile mtrProfile);

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

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

#endif // !defined(AFX_MOTIONCONTROLLER_7856_H__7EA80A57_50A0_4983_A3B7_8176E4504168__INCLUDED_)