/*	**************************************************************  */
/*
 *	CM6K.H
 *
 *	Zachary Wolf
 *	4/4/06
 */ 

#ifndef __CM6K_HEADER
#define __CM6K_HEADER

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

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

/*	PUBLIC FUNCTION DECLARATIONS  */
void cm6k_init(int rs232_com_port, int rs232_dev_addr, int* ID);
void cm6k_rel_move(int dev_ID, int axis, double acc, double vel, double dis);
void cm6k_start_rel_move(int dev_ID, int axis, double acc, double vel, double dis);
void cm6k_end_rel_move(int dev_ID, int axis, double dis);
void cm6k_abs_move(int dev_ID, int axis, double acc, double vel, double pos);
void cm6k_go_home(int dev_ID, int axis, double acc, double vel);
void cm6k_get_mot_position(int dev_ID, int axis, double* pos);
void cm6k_get_enc_position(int dev_ID, int axis, double* pos);
void cm6k_zero(int dev_ID, int axis);
void cm6k_exit(int dev_ID);

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

/*	SEMI-PERMANENT PARAMETERS  */
#define CM6K_MAX_NUM_DEV   10
#define CM6K_MAX_CMD 80
#define CM6K_NUM_AXES 2
/* Unused axes are ignored */
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS1 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS2 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS3 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS4 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS5 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS6 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS7 25000
#define CM6K_NUM_MOT_STEPS_PER_REV_AXIS8 25000
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS1 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS2 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS3 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS4 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS5 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS6 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS7 1024
#define CM6K_NUM_ENC_STEPS_PER_REV_AXIS8 1024

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

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

#endif