/*	**************************************************************  */
/*
 *	ESP7000.H
 *
 *	Zachary Wolf
 *	7/27/98
 */ 

#ifndef __ESP7000_HEADER
#define __ESP7000_HEADER

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

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

/*	PUBLIC FUNCTION DECLARATIONS  */
void esp7000_init(int gpib_board_addr, int gpib_dev_addr, int* ID);
void esp7000_move_home(int dev_ID, int axis);
void esp7000_rel_stage_move(int dev_ID, int axis, double acc, double vel, double dis);
void esp7000_rel_2_stage_move(int dev_ID, int axis1, int axis2, double acc, double vel, double dis);
void esp7000_abs_stage_move(int dev_ID, int axis, double acc, double vel, double pos);
void esp7000_abs_2_stage_move(int dev_ID, int axis1, int axis2, double acc, double vel, double pos);
void esp7000_zero(int dev_ID, int axis);
void esp7000_activate_axis(int dev_ID, int axis);
void esp7000_deactivate_axis(int dev_ID, int axis);
void esp7000_get_acc(int dev_ID, int axis, double* acc);
void esp7000_get_dcl(int dev_ID, int axis, double* dcl);
void esp7000_get_vel(int dev_ID, int axis, double* vel);
void esp7000_get_pos(int dev_ID, int axis, double* pos);
void esp7000_exit(int dev_ID);

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

/*	SEMI-PERMANENT PARAMETERS  */
#define ESP7000_MAX_NUM_DEV   10
#define ESP7000_MAX_CMD 80
#define ESP7000_MAX_NUM_AXES 6
#define ESP7000_MAX_ACC 0.0004
#define ESP7000_MAX_VEL 0.0004
#define ESP7000_MAX_DIS 0.0125
/* Last 3 values are in mm */

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

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

#endif