LinearActuator.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file LinearActuator.h
*  \Header file for LinearActuator class
*  \author $Author: bwilliam $
*  \version $Revision: 1.4 $
*  \date    $Date: 2006/06/27 15:24:31 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////





#ifndef __SSSL_LINEARACTUATOR_H__
#define __SSSL_LINEARACTUATOR_H__

#include <Base/Actuator.h>
#include <Utils/Misc.h>
#include <string>
#include <sstream>
#include <Actuators/PhysicalLinearActuator.h>
using namespace std;
using namespace O_SESSAME;

/*! Class to interface with linear actuators */
class LinearActuator : public Actuator  
{
public:
    //////////////////////////////////////////////////
    // Contructors/Deconstructors                   //
    //////////////////////////////////////////////////

        /*! Default Constructor*/
        LinearActuator();
    
        /*! Deconstructor*/
        virtual ~LinearActuator();

    //////////////////////////////////////////////////
    // Facilitators                                 //
    //////////////////////////////////////////////////
    
        /*!Will move the linear actuator a desired distance or as far as possible in either             direction*/
        /*!Param_Distance double representing the desired travel distance (inches)*/
        
        int TravelDistanceLimits(double Param_Distance);


        /*!Will check to see if the desired distance to travel is possible.  If it is possible, the linear actuator moves, if it is not possible an error is            reported to the user*/
        /*!Param_Distance double representing the desired travel distance (inches)*/

        int TravelDistanceChecks(double Param_Distance);

        /*!Will move the linear actuator to a desired position*/
        /*!Param_Position double representing the desired position to move to (inches)*/

        int TravelPosition(double Param_Position);

        /*!Sets velocity for the linear actuator*/
        /*!velocity represents velocity in the range of 0-50*/

        int SetVelocity(double velocity);

        /*! Start linear actuator jog*/
        
        int StartJog(int direction);

        /*! Stop the linear actuator*/

        int Stop();

        /*! Initialize the linear actuator(s)*/
        int Initialize(int Action, char *port);
 
        /*! Deinitialize the linear actuator*/
        int Deinitialize();


    //////////////////////////////////////////////////
    // Inspectors                                   //
    //////////////////////////////////////////////////
   
        /*!Will return the current position of the linear actuator (inches)*/
        
        double GetCurrentPosition( );

protected: 
    
    
private:


    /*! Member double representing the current position of the linear actuator in inches*/
    double m_CurrentPosition;

    /*! Member PhysicalLinearActuator object*/
    PhysicalLinearActuator m_PhysicalLinearActuator;

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: LinearActuator.h,v $
*       Revision 1.4  2006/06/27 15:24:31  bwilliam
*       Added jog functions. Added port file name argument to initialization function.
*
*
*
*
****************************************************************************/

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