LaosMotion.h

00001 /**
00002  * LaosMotion.cpp
00003  * Motion Controll functions for Laos system
00004  *
00005  * Copyright (c) 2011 Peter Brier
00006  *
00007  *   This file is part of the LaOS project (see: http://laoslaser.org)
00008  *
00009  *   LaOS is free software: you can redistribute it and/or modify
00010  *   it under the terms of the GNU General Public License as published by
00011  *   the Free Software Foundation, either version 3 of the License, or
00012  *   (at your option) any later version.
00013  *
00014  *   LaOS is distributed in the hope that it will be useful,
00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *   GNU General Public License for more details.
00018  *
00019  *   You should have received a copy of the GNU General Public License
00020  *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
00021  *
00022  * 
00023  *
00024  */
00025 #ifndef _LAOSMOTION_H_
00026 #define _LAOSMOTION_H_
00027 #include "global.h"
00028 
00029 
00030 // the state of the laser OUTPUT
00031 #define LASEROFF 1
00032 #define LASERON 0
00033 
00034     /** Motion Controll system
00035       *
00036       * Example:
00037       * @code 
00038       * @endcode
00039       */
00040 class LaosMotion {
00041 public:
00042     /** Make new LaosMotion object. 
00043       * Installs ticker
00044       */
00045   LaosMotion();
00046   ~LaosMotion();
00047   void write(int i); // write command word to motion controller
00048   int ready(); // returns true if we are ready to accept a new instruction
00049   void reset(); // reset the instruction decoder and motion controller
00050   void home(int xhome, int yhome, int zhome); // home the system, move to the sensors and set the specified position
00051   bool isStart(); // start button is enabled
00052   bool isHome; // system is homed
00053   void setPosition(int x, int y, int z); // set the absolute position [micron]
00054   void getPosition(int *x, int *y, int *z); // get actual absolute position [micron] (current position of the motors)
00055   void setOrigin(int x, int y, int z); // set the origin to this absolute position [micron]
00056   void moveTo(int x, int y, int z); // move (jog) to a specific position [microns]
00057   void moveTo(int x, int y, int z, int speed); // move (jog) to a specific position [microns]
00058   int queue(); // queued items
00059 private:
00060   
00061 };
00062 
00063  
00064 
00065 #endif