Changeset 1702 for trunk/MagicSoft/Cosy/devdrv/macs.h
- Timestamp:
- 01/13/03 18:18:15 (22 years ago)
- File:
-
- 1 edited
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trunk/MagicSoft/Cosy/devdrv/macs.h
r1701 r1702 25 25 BYTE_t fPosActive; 26 26 BYTE_t fRpmActive; 27 BYTE_t fInControl; 28 BYTE_t fStatus; 27 29 28 30 TTimer *fTimeout; … … 40 42 41 43 public: 44 enum 45 { 46 kNotMoving = BIT(0), // motor not moving 47 kPosActive = BIT(1), // positioning active 48 kRpmActive = BIT(2), // RPM mode switched on 49 // BIT(3-5) unsused 50 kOutOfControl = BIT(6), // motor uncontrolled 51 kAxisReset = BIT(7) // axis resetted (after errclr, motor stop, motor on) 52 }; 53 42 54 Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); 43 55 virtual ~Macs(); … … 90 102 void StopMotor(); 91 103 92 int IsPositioning() { return fPosActive; } 104 int IsPositioning() const { return fPosActive; } 105 BYTE_t GetStatus() const { return fStatus; } 93 106 94 107 double GetTime(); … … 98 111 double GetPdoMjd(); 99 112 100 LWORDS_t GetPdoPos() { return fPdoPos; }113 LWORDS_t GetPdoPos() const { return fPdoPos; } 101 114 102 LWORDS_t GetPos() { return fPos; }103 LWORDS_t GetVel() { return fVel; }104 LWORD_t GetVelRes() { return fVelRes; } // Velocity units (would be 100 for %)105 LWORD_t GetRes() { return fRes; } // Encoder resolution115 LWORDS_t GetPos() const { return fPos; } 116 LWORDS_t GetVel() const { return fVel; } 117 LWORD_t GetVelRes() const { return fVelRes; } // Velocity units (would be 100 for %) 118 LWORD_t GetRes() const { return fRes; } // Encoder resolution 106 119 107 120 void HandleError();
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