/*	**************************************************************  */
/*
 *	CM4000.H
 *
 *	Zachary Wolf
 *	7/27/98
 */ 

#ifndef __CM4000_HEADER
#define __CM4000_HEADER

#if defined(__cplusplus) || defined(__cplusplus__)
extern "C" {
#endif

/*	**************************************************************  */

/*	PUBLIC FUNCTION DECLARATIONS  */
void cm4000_init(int gpib_board_addr, int gpib_dev_addr, int *dev_ID);
void cm4000_rel_move(int dev_ID, int axis, double acc, double vel, double dis);
void cm4000_start_rel_move(int dev_ID, int axis, double acc, double vel, double dis);
void cm4000_end_rel_move(int dev_ID, int axis, double dis);
void cm4000_abs_move(int dev_ID, int axis, double acc, double vel, double pos);
void cm4000_go_home(int dev_ID, int axis, double acc, double vel);
void cm4000_get_mot_position(int dev_ID, int axis, double* pos);
void cm4000_get_enc_position(int dev_ID, int axis, double* pos);
void cm4000_zero(int dev_ID, int axis);
void cm4000_exit(int dev_ID);

/*	**************************************************************  */

/*	SEMI-PERMANENT PARAMETERS  */
#define CM4000_MAX_NUM_DEV   10
#define CM4000_MAX_CMD 80
#define CM4000_NUM_MOT_STEPS_PER_REV_AXIS1 25000
#define CM4000_NUM_MOT_STEPS_PER_REV_AXIS2 25000
#define CM4000_NUM_MOT_STEPS_PER_REV_AXIS3 25000
#define CM4000_NUM_MOT_STEPS_PER_REV_AXIS4 25000
#define CM4000_NUM_ENC_STEPS_PER_REV_AXIS1 1024
#define CM4000_NUM_ENC_STEPS_PER_REV_AXIS2 1024
#define CM4000_NUM_ENC_STEPS_PER_REV_AXIS3 1024
#define CM4000_NUM_ENC_STEPS_PER_REV_AXIS4 1024

/*	**************************************************************  */

/*	DONE  */
#if defined(__cplusplus) || defined(__cplusplus__)
}
#endif

#endif