Changeset 4104 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

Timestamp:

05/20/04 04:42:48 (20 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (modified) (6 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

@@ -1 @@
-#ifndef SHAFTENCODER_H
-#define SHAFTENCODER_H
+#ifndef COSY_ShafTEncoder
+#define COSY_ShafTEncoder
 
+#ifndef COSY_NodeDrv
 #include "nodedrv.h"
+#endif
+
+#ifndef MARS_MTime
 #include "MTime.h"
+#endif
 
+class Macs;
 class TGLabel;
 
@@ -19 +25 @@
     TGLabel  *fLabel;     //
     LWORDS_t  fUpdPos;    // ticks
-    //    WORDS_t   fUpdVel;    // ticks per 5ms
-    //    WORDS_t   fUpdAcc;    // ticks per 25ms^2
 
     bool fPosHasChanged;  //!
@@ -26 +30 @@
     MTime fTime;
     MLog *fReport;
+
+    Macs *fMotor;
+    Int_t fOffset;
 
     void HandlePDOType0(BYTE_t *data, timeval_t *tv);
@@ -35 +42 @@
     void Init();
     void CheckConnection();
+    // void CheckTwin(Int_t diff) const;
 
 public:
@@ -42 +50 @@
 
     void SetDisplay(TGLabel *label) { fLabel = label; }
+    void SetMotor(Macs *m) { fMotor = m; }
+    //void SetTwin(ShaftEncoder *se) { fTwin = se; }
 
     void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
@@ -52 +62 @@
     void HandlePDO2(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); }
 
-    LWORDS_t GetPos() { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0?
-    LWORD_t  GetPhysRes() { return fTicks; }
+    LWORDS_t GetPos() const { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0?
+    LWORD_t  GetPhysRes() const { return fTicks; }
+    Int_t    GetOffset() const { return fOffset; }
+    void     SetOffset(Int_t off) { fOffset = off; }
 
     double GetMjd();