usermotor.h
1 /***************************************************************************
2  Copyright (C) 2002-2015 Kentaro Kitagawa
3  kitagawa@phys.s.u-tokyo.ac.jp
4 
5  This program is free software; you can redistribute it and/or
6  modify it under the terms of the GNU Library General Public
7  License as published by the Free Software Foundation; either
8  version 2 of the License, or (at your option) any later version.
9 
10  You should have received a copy of the GNU Library General
11  Public License and a list of authors along with this program;
12  see the files COPYING and AUTHORS.
13 ***************************************************************************/
14 
15 #ifndef USERMOTOR_H_
16 #define USERMOTOR_H_
17 
18 #include "motor.h"
19 #include "modbusrtuinterface.h"
20 #include "chardevicedriver.h"
21 
22 //ORIENTAL MOTOR FLEX CRK series.
23 class XFlexCRK : public XModbusRTUDriver<XMotorDriver> {
24 public:
25  XFlexCRK(const char *name, bool runtime,
26  Transaction &tr_meas, const shared_ptr<XMeasure> &meas);
27  virtual ~XFlexCRK() {}
28 protected:
29 protected:
30  virtual void getStatus(const Snapshot &shot, double *position, bool *slipping, bool *ready);
31  virtual void changeConditions(const Snapshot &shot);
32  virtual void getConditions(Transaction &tr);
33  virtual void setTarget(const Snapshot &shot, double target);
34  virtual void setActive(bool active);
35  virtual void setAUXBits(unsigned int bits);
36  virtual void setForward(); //!< continuous rotation.
37  virtual void setReverse();//!< continuous rotation.
38  virtual void stopRotation(); //!< stops motor and waits for deceleration.
39  //! stores current settings to the NV memory of the instrumeMotornt.
40  virtual void storeToROM();
41  virtual void clearPosition();
42 private:
43  void sendStopSignal(bool wait);
44 };
45 
46 //ORIENTAL MOTOR FLEX AR/DG2 series.
47 class XFlexAR : public XFlexCRK {
48 public:
49  XFlexAR(const char *name, bool runtime,
50  Transaction &tr_meas, const shared_ptr<XMeasure> &meas) : XFlexCRK(name, runtime, ref(tr_meas), meas) {}
51  virtual ~XFlexAR() {}
52 protected:
53 protected:
54  virtual void getStatus(const Snapshot &shot, double *position, bool *slipping, bool *ready);
55  virtual void changeConditions(const Snapshot &shot);
56  virtual void getConditions(Transaction &tr);
57  virtual void setTarget(const Snapshot &shot, double target);
58  virtual void setActive(bool active);
59  virtual void setAUXBits(unsigned int bits);
60  virtual void setForward(); //!< continuous rotation.
61  virtual void setReverse();//!< continuous rotation.
62  virtual void stopRotation();//!< stops motor and waits for deceleration.
63  //! stores current settings to the NV memory of the instrument.
64  virtual void storeToROM();
65  virtual void clearPosition();
66 private:
67  void sendStopSignal(bool wait);
68 };
69 
70 //ORIENTAL MOTOR EMP401.
71 class XEMP401 : public XCharDeviceDriver<XMotorDriver> {
72 public:
73  XEMP401(const char *name, bool runtime,
74  Transaction &tr_meas, const shared_ptr<XMeasure> &meas);
75  virtual ~XEMP401() {}
76 protected:
77 protected:
78  virtual void getStatus(const Snapshot &shot, double *position, bool *slipping, bool *ready);
79  virtual void changeConditions(const Snapshot &shot);
80  virtual void getConditions(Transaction &tr);
81  virtual void setTarget(const Snapshot &shot, double target);
82  virtual void setActive(bool active);
83  virtual void setAUXBits(unsigned int bits);
84  virtual void setForward(); //!< continuous rotation.
85  virtual void setReverse();//!< continuous rotation.
86  virtual void stopRotation(); //!< stops motor and waits for deceleration.
87  //! stores current settings to the NV memory of the instrumeMotornt.
88  virtual void storeToROM();
89  virtual void clearPosition();
90 private:
91  void waitForCursor();
92 };
93 
94 #endif /* USERMOTOR_H_ */
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