Changeset 1727 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

Timestamp:

01/23/03 13:32:58 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (modified) (4 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

@@ -2 +2 @@
 #define SHAFTENCODER_H
 
-#include "timer.h"
+#include "base/timer.h"
 #include "nodedrv.h"
 
@@ -17 +17 @@
     WORD_t   fTurns; // Number of possible turns
 
-    TGLabel **fLabel;
-    LWORDS_t  fUpdPos;   // ticks
-    WORDS_t   fUpdVel;   // ticks per 5ms
-    WORDS_t   fUpdAcc;   // ticks per 25ms^2
+    TGLabel **fLabel;     //
+    LWORDS_t  fUpdPos;    // ticks
+    WORDS_t   fUpdVel;    // ticks per 5ms
+    WORDS_t   fUpdAcc;    // ticks per 25ms^2
 
-    bool fPosHasChanged;
+    bool fPosHasChanged;  //!
 
     Timer fTime;
@@ -37 +37 @@
 public:
     ShaftEncoder(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog);
-    virtual ~ShaftEncoder();
 
-    //bool InitDevice(Network *);
-    //bool Reboot();
-
-    //void StartDevice();
     void StopDevice();
 
@@ -48 +43 @@
 
     void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    void HandleSDOOK(WORD_t idx, BYTE_t subidx) { NodeDrv::HandleSDOOK(idx, subidx); }
-    void HandleSDOError(LWORD_t data)           { NodeDrv::HandleSDOError(data); }
-
+    /*
+     void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv) { NodeDrv::HandleSDOOK(idx, subidx, tv); }
+     void HandleSDOError(LWORD_t data)           { NodeDrv::HandleSDOError(data); }
+     */
     void HandlePDO1(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); }
     void HandlePDO2(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); }
 
-    LWORDS_t GetPos() { return fIsZombie ? 0 : fPos+fTurn*fTicks; } // FIXME? 0?
+    LWORDS_t GetPos() { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0?
     LWORD_t  GetPhysRes() { return fTicks; }