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simmot_n.h

Go to the documentation of this file.

#ifndef SIMMOT_N_H
#define SIMMOT_N_H

#include "amplifier.h"
#include "dcmotor2.h"
#include "encoder.h"

#define SIMMOT_COMMAND_TYPE 101
#define SIMMOT_STATUS_TYPE 201
#define SIM_MAX_AXIS 8

struct simmot_command_struct {
  AMPLIFIER_STRUCT amplifier[SIM_MAX_AXIS];
  DC_MOTOR_STRUCT dcmotor[SIM_MAX_AXIS];
  ENCODER_STRUCT encoder[SIM_MAX_AXIS];
};

struct simmot_status_struct {
  int initialized;
  int cmd_count;
  double ampOutput[SIM_MAX_AXIS];
  AMPLIFIER_STRUCT amplifier[SIM_MAX_AXIS];
  DC_MOTOR_STRUCT dcmotor[SIM_MAX_AXIS];
  ENCODER_STRUCT encoder[SIM_MAX_AXIS];
};

#ifdef __cplusplus

#include "rcs.hh"

class SIMMOT_COMMAND: public NMLmsg
{
 public:
  SIMMOT_COMMAND();
  void update(CMS *);
  simmot_command_struct data;
};

class SIMMOT_STATUS: public NMLmsg
{
 public:
  SIMMOT_STATUS();
  void update(CMS *);
  simmot_status_struct data;
};

extern int simmot_format(NMLTYPE type, void * buffer, CMS * cms);

#endif

#endif

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