#include <CDriverServotogo.h>
Inheritance diagram for cDriverServotogo:
Public Member Functions | |
| cDriverServotogo () | |
| Constructor of cDriverServotogo. | |
| ~cDriverServotogo () | |
| Destructor of cVirtualTool. | |
| virtual int | open () |
| Open connection to Sensoray626 board. | |
| virtual int | close () |
| Close connection to Sensoray626 board. | |
| virtual int | initialize (const bool a_resetEncoders=false) |
| Initialize Sensoray626 board. | |
| virtual int | command (int iCommand, void *iData) |
Private Member Functions | |
| void | setDac (int a_num, double a_volts) |
| int | getEncoder (int a_num, long *a_value) |
| Read encoder values. Returns the number of values read. | |
| unsigned short | brdtstOK (unsigned short a_baseAddress) |
| Checks if the board is present. | |
| void | stg_Init (unsigned short a_wAdd) |
| Initializes the board. This should be called by the constructor. | |
| void | encoderInit () |
| Initializes the encoders. | |
| void | encoderLatch () |
| Latches the encoders. | |
| unsigned short | findBaseAddress () |
| Automatically finds the base address of the board. | |
| void | encReadAll (LONGBYTE *a_lbEnc) |
| Latches and reads all the encoders of the board. | |
| void | rawDAC (unsigned short a_nAxis, long a_lCounts) |
| int | getBaseAddress () |
| Returns the base address for the board. | |
Private Attributes | |
| long | m_homeposition [20] |
| unsigned short | m_wBaseAddress |
| Board base address. | |
| unsigned short | m_wIrq |
| Interrupt request used by board. | |
| unsigned short | m_wModel |
| Board model: defined by BrdtstOK. | |
| unsigned short | m_wNoBoardFlag |
| Tells if the board is present. set by stg_init(). | |
| unsigned short | m_wAxesInSys |
| Number of encoders used. set by stgInit() through encoderInit(). | |
| unsigned short | m_wSaveDirs |
| Directions for DIO. Set by DIODirections(). don't care now. | |
| unsigned char | m_byIndexPollAxis |
| Set by stg_init(). | |
| unsigned char | m_byIndexPulsePolarity |
| Polarity of signals. | |
| cDriverServotogo::cDriverServotogo | ( | ) |
Constructor of cDriverServotogo.
Constructor of cDriverServotogo.
| cDriverServotogo::~cDriverServotogo | ( | ) |
Destructor of cVirtualTool.
Destructor of cDriverServotogo.
| int cDriverServotogo::open | ( | ) | [virtual] |
Open connection to Sensoray626 board.
Open board.
Reimplemented from cGenericDevice.
| int cDriverServotogo::close | ( | ) | [virtual] |
Close connection to Sensoray626 board.
Sets all DACs to zero
Reimplemented from cGenericDevice.
| int cDriverServotogo::initialize | ( | const bool | a_resetEncoders = false |
) | [virtual] |
Initialize Sensoray626 board.
Initializes board. In this implementation there's really nothing to do that hasn't been done in the opening phase.
Reimplemented from cGenericDevice.
| int cDriverServotogo::command | ( | int | iCommand, | |
| void * | iData | |||
| ) | [virtual] |
CHAI_CMD_SET_DAC_0: writes a voltage to DAC 0 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_1: writes a voltage to DAC 1 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_2: writes a voltage to DAC 2 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_3: writes a voltage to DAC 3 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_4: writes a voltage to DAC 4 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken CHAI_CMD_SET_DAC_5: writes a voltage to DAC 5 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken CHAI_CMD_SET_DAC_6: writes a voltage to DAC 6 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken CHAI_CMD_SET_DAC_7: writes a voltage to DAC 7 a value between +10 and -10 volts, which is a double. If this axis is not supported no action is taken
Reimplemented from cGenericDevice.
| void cDriverServotogo::setDac | ( | int | a_num, | |
| double | a_volts | |||
| ) | [private] |
METHODS Set value to dac
| int cDriverServotogo::getEncoder | ( | int | a_num, | |
| long * | a_value | |||
| ) | [private] |
Read encoder values. Returns the number of values read.
Read the value of encoder iNum. Returns -1 if the encoder doesn't exist, 1 if read was OK
| a_num | number of encoder to be read | |
| a_value | pointer to value read |
| unsigned short cDriverServotogo::brdtstOK | ( | unsigned short | a_baseAddress | ) | [private] |
Checks if the board is present.
Checks if board is present and what is its model number
| a_baseAddress | The address of the board in I/O space |
| void cDriverServotogo::stg_Init | ( | unsigned short | a_wAdd | ) | [private] |
Initializes the board. This should be called by the constructor.
Initializes various aspects of the board
| a_wAdd | Address of the board in I/O space. |
| void cDriverServotogo::encoderInit | ( | ) | [private] |
Initializes the encoders.
Initializes the encoder chips of the board
| void cDriverServotogo::encoderLatch | ( | ) | [private] |
Latches the encoders.
Latches all encoders
| unsigned short cDriverServotogo::findBaseAddress | ( | ) | [private] |
Automatically finds the base address of the board.
Finds the base address for the board
| void cDriverServotogo::encReadAll | ( | LONGBYTE * | a_lbEnc | ) | [private] |
Latches and reads all the encoders of the board.
Latches and reads all encoders at once
| a_lbEnc | array of the encoder values |
| void cDriverServotogo::rawDAC | ( | unsigned short | nAxis, | |
| long | lCounts | |||
| ) | [private] |
Writes to DAC nAxis value lCounts
| nAxis | value of DAC to which to write | |
| lCounts | value to be written to the DAC |
| int cDriverServotogo::getBaseAddress | ( | ) | [private] |
Returns the base address for the board.
Returns board base address.
long cDriverServotogo::m_homeposition[20] [private] |
MEMBERS: Initial values of the encoder to reset them
1.5.2