KatanaNativeInterface  $VERSION$
Classes | Enumerations
kmlMotBase.h File Reference
#include "common/exception.h"
#include "common/dllexport.h"
#include "KNI/kmlCommon.h"
#include "KNI/cplBase.h"
#include <vector>
Include dependency graph for kmlMotBase.h:
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Classes

struct  TMotDesc
 motor description (partly) More...
struct  TKatMOT
 [MOT] every motor's attributes More...
struct  TMotGNL
 [GNL] motor generals More...
struct  TMotSFW
 [SFW] slave firmware More...
struct  TMotAPS
 [APS] actual position More...
struct  TMotTPS
 [TPS] target position More...
struct  TMotSCP
 [SCP] static controller parameters More...
struct  TMotDYL
 [DYL] dynamic limits More...
struct  TMotPVP
 [PVP] position, velocity, pulse width modulation More...
struct  TMotENL
 [ENL] limits in encoder values (INTERNAL STRUCTURE!) More...
struct  TMotCLB
 Calibration structure for single motors. More...
struct  TMotInit
 Initial motor parameters. More...
class  CMotBase
 Motor class. More...

Enumerations

enum  TMotCmdFlg { MCF_OFF = 0, MCF_CALIB = 4, MCF_FREEZE = 8, MCF_ON = 24 }
 command flags More...
enum  TMotStsFlg {
  MSF_MECHSTOP = 1, MSF_MAXPOS = 2, MSF_MINPOS = 4, MSF_DESPOS = 8,
  MSF_NORMOPSTAT = 16, MSF_MOTCRASHED = 40, MSF_NLINMOV = 88, MSF_LINMOV = 152,
  MSF_NOTVALID = 128
}
 status flags More...
enum  TSearchDir { DIR_POSITIVE, DIR_NEGATIVE }

Enumeration Type Documentation

enum TMotCmdFlg

command flags

Enumerator:
MCF_OFF 

set the motor off

MCF_CALIB 

calibrate

MCF_FREEZE 

freeze the motor

MCF_ON 

set the motor on

Definition at line 48 of file kmlMotBase.h.

enum TMotStsFlg

status flags

Enumerator:
MSF_MECHSTOP 

mechanical stopper reached

MSF_MAXPOS 

max. position was reached

MSF_MINPOS 

min. position was reached

MSF_DESPOS 

in desired position

MSF_NORMOPSTAT 

trying to follow target

MSF_MOTCRASHED 

motor has crashed

MSF_NLINMOV 

non-linear movement ended

MSF_LINMOV 

linear movement ended

MSF_NOTVALID 

motor data not valid

Definition at line 57 of file kmlMotBase.h.

enum TSearchDir
Enumerator:
DIR_POSITIVE 

search direction for the meachanical stopper

DIR_NEGATIVE 

Definition at line 68 of file kmlMotBase.h.