D:/CHAI3D/build-2-0-0/2.0.0/win32/src/devices/CDriverServotogo.h

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//===========================================================================
/*
    This file is part of the CHAI 3D visualization and haptics libraries.
    Copyright (C) 2003-2009 by CHAI 3D. All rights reserved.

    This library is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License("GPL") version 2
    as published by the Free Software Foundation.

    For using the CHAI 3D libraries with software that can not be combined
    with the GNU GPL, and for taking advantage of the additional benefits
    of our support services, please contact CHAI 3D about acquiring a
    Professional Edition License.

    \author    <http://www.chai3d.org>
    \author    Federico Barbagli
    \version   2.0.0 $Rev: 258 $
*/
//===========================================================================

//---------------------------------------------------------------------------
#ifndef CDriverServotogoH
#define CDriverServotogoH
//---------------------------------------------------------------------------
#include "devices/CGenericDevice.h"
//---------------------------------------------------------------------------
#if defined(_ENABLE_SERVOTOGO_DEVICE_SUPPORT)
//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================

//---------------------------------------------------------------------------
#ifndef DOXYGEN_SHOULD_SKIP_THIS
//---------------------------------------------------------------------------

//---------------------------------------------------------------------------
// DLPORTIO
//---------------------------------------------------------------------------

#ifdef __cplusplus
extern "C" {
#endif

#define DLPORT_API _stdcall

unsigned char DLPORT_API
DlPortReadPortUchar(
    IN unsigned long Port
    );

unsigned short DLPORT_API
DlPortReadPortUshort(
    IN unsigned long Port
    );

unsigned long DLPORT_API
DlPortReadPortUlong(
    IN unsigned long Port
    );

void DLPORT_API
DlPortReadPortBufferUchar(
    IN unsigned long Port,
    IN unsigned char* Buffer,
    IN unsigned long  Count
    );

void DLPORT_API
DlPortReadPortBufferUshort(
    IN unsigned long Port,
    IN unsigned short* Buffer,
    IN unsigned long Count
    );

void DLPORT_API
DlPortReadPortBufferUlong(
    IN unsigned long Port,
    IN unsigned long* Buffer,
    IN unsigned long Count
    );

void DLPORT_API
DlPortWritePortUchar(
    IN unsigned long Port,
    IN unsigned char Value
    );

void DLPORT_API
DlPortWritePortUshort(
    IN unsigned long Port,
    IN unsigned short Value
    );

void DLPORT_API
DlPortWritePortUlong(
    IN unsigned long Port,
    IN unsigned long Value
    );

void DLPORT_API
DlPortWritePortBufferUchar(
    IN unsigned long Port,
    IN unsigned char* Buffer,
    IN unsigned long  Count
    );

void DLPORT_API
DlPortWritePortBufferUshort(
    IN unsigned long Port,
    IN unsigned short* Buffer,
    IN unsigned long Count
    );

void DLPORT_API
DlPortWritePortBufferUlong(
    IN unsigned long Port,
    IN unsigned long* Buffer,
    IN unsigned long Count
    );

#ifdef __cplusplus
}
#endif

//---------------------------------------------------------------------------

// Internal information to ServoToGo
typedef union
{
    unsigned long                       all;
    struct {unsigned char  A, B, C, D;} port;
} IO32;

// Internal information to ServoToGo
typedef union
{
    long           Long;
    unsigned char  Byte[4];
} LONGBYTE;

// Internal information to ServoToGo
typedef union
{
    unsigned short                          Word;
    struct   {unsigned char    high, low;}  Byte;
} WORDBYTE;

//---------------------------------------------------------------------------
#endif  // DOXYGEN_SHOULD_SKIP_THIS
//---------------------------------------------------------------------------

//===========================================================================
//===========================================================================
class cDriverServotogo : public cGenericDevice
{
  public:
    //-----------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //-----------------------------------------------------------------------

    cDriverServotogo();

    ~cDriverServotogo();


    //-----------------------------------------------------------------------
    // METHODS:
    //-----------------------------------------------------------------------

    virtual int open();

    virtual int close();

    virtual int initialize(const bool a_resetEncoders=false);

    virtual int command(int a_command, void* a_data);

  private:

    //-----------------------------------------------------------------------
    //-----------------------------------------------------------------------
    
    long m_homeposition[20];

    unsigned short m_wBaseAddress;

    unsigned short m_wIrq;

    unsigned short m_wModel;

    unsigned short m_wNoBoardFlag;

    unsigned short m_wAxesInSys;

    unsigned short m_wSaveDirs;

    unsigned char  m_byIndexPollAxis;

    unsigned char  m_byIndexPulsePolarity;


    //-----------------------------------------------------------------------
    // METHODS
    //-----------------------------------------------------------------------

    void setDac(int a_num, double a_volts);

    int getEncoder(int a_num, long *a_value);

    unsigned short brdtstOK(unsigned short a_baseAddress);

    void stg_Init(unsigned short a_wAdd);

    void encoderInit();

    void encoderLatch();

    unsigned short findBaseAddress();

    void encReadAll(LONGBYTE * a_lbEnc);

    void rawDAC(unsigned short a_nAxis, long a_lCounts);

    int getBaseAddress();
};

//---------------------------------------------------------------------------
#endif
//---------------------------------------------------------------------------
#endif //_ENABLE_SERVOTOGO_DEVICE_SUPPORT
//---------------------------------------------------------------------------

---

CHAI3D 2.0.0 documentation
Please address any questions to support@chai3d.org
(C) 2003-2009 - CHAI 3D
All Rights Reserved.