DECLARE SUB cm2100zero ()

'****************************************************************************
'This module contains subroutines which control the Compumotor 2100
'stepping motor system.
'
'Zachary Wolf
'6/7/94, 9/11/95
'****************************************************************************

'Common area for shared parameters
COMMON SHARED /cm2100/ gpibinP%, gpiboutP%, cm2100addrP$

'Semi-permanent parameters
CONST nstepsperrevP& = 25000         'stepping motor # steps per revolution

SUB cm2100avd (a!, v!, d!)

'****************************************************************************
'This subroutine moves the motor d! revolutions.  It accelerates the motor
'with acceleration a! rev/sec/sec to velocity v! rev/sec to make the move.
'
'Input:
' a!, acceleration in rev/sec/sec
' v!, velocity in rev/sec
' d!, distance in rev, can be + or -
'
'Zachary Wolf
'5/6/94, 9/11/95
'****************************************************************************

END SUB

SUB cm2100avdend (d!)

'****************************************************************************
'This subroutine moves the motor d! revolutions.  It accelerates the motor
'with acceleration a! rev/sec/sec to velocity v! rev/sec to make the move.
'
'Input:
' d!, distance in rev, can be + or -
'
'Zachary Wolf
'5/6/94, 9/11/95
'****************************************************************************

END SUB

SUB cm2100avdst (a!, v!, d!)

'****************************************************************************
'This subroutine moves the motor d! revolutions.  It accelerates the motor
'with acceleration a! rev/sec/sec to velocity v! rev/sec to make the move.
'
'Input:
' a!, acceleration in rev/sec/sec
' v!, velocity in rev/sec
' d!, distance in rev, can be + or -
'
'Zachary Wolf
'5/6/94, 9/11/95
'****************************************************************************

END SUB

SUB cm2100getd (d!)

'****************************************************************************
'This subroutine gets the number of revolutions away from zero that the
'motor is currently at.
'
'Output:
' d!, position in revolutions
'
'Zachary Wolf
'5/6/94
'****************************************************************************

END SUB

SUB cm2100init

'****************************************************************************
'This subroutine initializes the Compumotor 2100 indexer.
'
'Zachary Wolf
'5/6/94
'****************************************************************************

'Message
PRINT
PRINT "Resetting the Compumotor 2100..."

END SUB

SUB cm2100setpar (gpibin%, gpibout%, cm2100addr$)

'****************************************************************************
'This subroutine sets the parameters required by the CM2100.
'
'Input:
' gpibin%, gpib input file number
' gpibout%, gpib output file number
' cm2100addr$, gpib address in a string
'
'Zachary Wolf
'10/16/95
'****************************************************************************

'Make sure the input parameters have reasonable values
IF gpibin% < 0 OR gpibin% > 100 THEN
 PRINT "CM2100: GPIB problem"
 EXIT SUB
END IF

IF gpibout% < 0 OR gpibout% > 100 THEN
 PRINT "CM2100: GPIB problem"
 EXIT SUB
END IF

IF cm2100addr$ = "" THEN
 PRINT "CM2100: GPIB problem"
 EXIT SUB
END IF

'Save the GPIB information in a common block for future use
gpibinP% = gpibin%
gpiboutP% = gpibout%
cm2100addrP$ = cm2100addr$

END SUB

SUB cm2100zero

'****************************************************************************
'This subroutine sets the Compumotor 2100 indexer position count to 0.
'
'Zachary Wolf
'5/6/94
'****************************************************************************

END SUB