/*	**************************************************************  */
/*
 *	CM6K6.H
 *
 *	Zachary Wolf
 *	7/27/98
 */ 

#ifndef __CM6K6_HEADER
#define __CM6K6_HEADER

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

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

/*	PUBLIC FUNCTION DECLARATIONS  */
void cm6k6_init(int rs232_com_port, int rs232_dev_addr, int *dev_ID);
int cm6k6_rel_move(int dev_ID, int axis, double acc, double vel, double dis);
void cm6k6_abs_move(int dev_ID, int axis, double acc, double vel, double pos);
void cm6k6_go_home(int dev_ID, int axis, double acc, double vel);
void cm6k6_get_mot_position(int dev_ID, int axis, double* pos);
void cm6k6_get_enc_position(int dev_ID, int axis, double* pos);
void cm6k6_follow_move(int dev_ID, int master, int follow, double acc, double vel, double dis); 
void cm6k6_zero(int dev_ID, int axis);
void cm6k6_exit(int dev_ID);
int cm6k6_open_dev(int rs232_dev_addr);
void cm6k6_close_dev(int dev_ID);
int cm6k6_check_port(int rs232_com_port);
int cm6k6_out(int dev_ID, char *buf);
int cm6k6_in(int dev_ID, char* buf);
int cm6k6_check_dev_open(int dev_ID);
int cm6k6_read_error_status(int dev_ID);
int cm6k6_danger_operation_message(char* message);
void cm6k6_get_num_mot_steps_per_rev(int axis, long int* num_steps_per_rev);
void cm6k6_get_num_enc_cts_per_rev(int axis, long int* num_cts_per_rev);
void cm6k6_message(char* msg);
void cm6k6_error(char* msg);
void cm6k6_axis_wait(int dev_ID);
int cm6k6_ifmove_delay (int dev_ID, int axis);
void cm6k6ui_init(void);
int cm6k6_error_handling(int err, char descr[]);
void cm6k6_stop_motor(int dev_ID, int axis);
void cm6k6_axis(int axis, char list[]);
int cm6k6_cam_move(int panel, int control, int dev_ID, int axis, double step_size, int led_flag);
//int cm6k6_cam_move(int dev_ID, struct move_param param);
void cm6k6_cam_init(int rs232_com_port, int rs232_dev_addr, 
											int* ID, struct move_param param);
int cm6k6_cam_move_5(int panel, int control[], int dev_ID, double distance[], int led_flag);

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

/*	SEMI-PERMANENT PARAMETERS  */
#define CM6K6_MAX_NUM_DEV   10
#define CM6K6_MAX_CMD 120
#define CM6K6_NUM_AXIS 6
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS1 25000
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS2 25000
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS3 25000
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS4 25000
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS5 25000
#define CM6K6_NUM_MOT_STEPS_PER_REV_AXIS6 25000
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS1 4096
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS2 4096
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS3 4096				  
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS4 4096
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS5 4096				  
#define CM6K6_NUM_ENC_STEPS_PER_REV_AXIS6 4096
#define CM6K6_COM_PORT 4 //8 // 11//3
#define CM6K6_DEV_ADDR 1
#define ACC   1.							// motor acceleration
#define VEL  0.5					 		// motor velocity
#define AXIS	1							// first axis
//#define CHAN_NUM 1						// number of Pot's


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

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

#endif