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115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
// MotionController.h: interface for the CMotionController class.
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//
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//////////////////////////////////////////////////////////////////////
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#if !defined(AFX_MOTIONCONTROLLER_H__65E8EEA5_D76F_11D7_89B3_000629A6E157__INCLUDED_)
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#define AFX_MOTIONCONTROLLER_H__65E8EEA5_D76F_11D7_89B3_000629A6E157__INCLUDED_
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#if _MSC_VER > 1000
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#pragma once
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#endif // _MSC_VER > 1000
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#include <map>
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#include "Motor.h"
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#include "MotionControllerBase.h"
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#ifdef BUILD_IODLL
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#define IODLLCLASS __declspec(dllexport)
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#else
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#define IODLLCLASS __declspec(dllimport)
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#endif
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class IODLLCLASS CMotionController : public CCard
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{
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public:
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// static void SetGalilMotionInt(int nAxisNo);
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BOOL IsInPosition(CMtrProfile mtrProfile);
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unsigned short GetMotionIOStatus(CMtrProfile mtrProfile);
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CMotionController();
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virtual ~CMotionController();
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BOOL InitController(int iNoOfMtr);
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// check if negative limit hit
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//BOOL IsNegLimHit(int iMotorNo);
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BOOL IsNegLimHit(CMtrProfile mtrProfile);
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// check if positive limit hit
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//BOOL IsPosLimHit(int iMotorNo);
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BOOL IsPosLimHit(CMtrProfile mtrProfile);
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// check if motor at home position
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//BOOL IsHomed(int iMotorNo);
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BOOL IsHomed(CMtrProfile mtrProfile);
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// check if servo ready
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//BOOL IsServoReady(int iMotorNo);
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BOOL IsServoReady(CMtrProfile mtrProfile);
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// check if servo alarm
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//BOOL IsServoAlarm(int iMotorNo);
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BOOL IsServoAlarm(CMtrProfile mtrProfile);
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// get Motor Pos value
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//double GetMtrPos(int iMotorNo);
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double GetMtrPos(CMtrProfile mtrProfile);
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// get Motion status of motor
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//int GetMotionStatus(int iMotorNo);
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int GetMotionStatus(CMtrProfile mtrProfile);
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// get proportional gain value
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double GetPValue(int iMotorNo);
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// get Integral gain value
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double GetIValue(int iMotorNo);
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// get Deriative gain value
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double GetDValue(int iMotorNo);
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// get position error value
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//double GetPosErr(int iMotorNo);
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double GetPosErr(CMtrProfile mtrProfile);
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// check if Motor type is servo motor
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BOOL IsServoMtrType(CMtrProfile mtrProfile);
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// copy all motor status
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void CopyMtrStatus();
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// check if motor position changed
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bool IsMtrPosChanged(int iMtrNo, int &iPos);
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// check if motor On/Off States changed
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bool IsMtrOnOffStateChanged(int iMtrNo, bool &bOnOffState);
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// check if motor is on
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BOOL IsMtrOn(CMtrProfile mtrProfile);
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/* Return Motor(specify by iMtrNo) on or off state.
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Function Return true = Motor specify by iMtrNo Is On, else return false = Motor is off */
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bool GetMtrOnOffState(int iMtrNo);
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// int m_nCurrentGalilCard;
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private:
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/**
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* @brief all the various motion controller objects indexed by the controller ID.
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*/
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std::map<int, CMotionControllerBase*> m_motionControllerBase;
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CMtrPos m_mtrPos; // object to keep track of current motor position
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CMtrOnOff m_mtrOnOff; // object to keep track of current motor On/Off States
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int *m_ipMtrCurPos; // array to store motor position before maintenance mode
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bool *m_bpMtrCurOnOff; // array to store motor On/Off States before maintenance mode
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int m_iNoOfMtr; // total no of motor
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int m_nNoOfCardType;
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CHardwareIni m_iniHardware;
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bool m_bBenchDebugWithActualHardware;
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};
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#endif // !defined(AFX_MOTIONCONTROLLER_H__65E8EEA5_D76F_11D7_89B3_000629A6E157__INCLUDED_)
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