/*	**************************************************************  */
/*
 *	MOVEMAG.H
 *
 *	Zachary Wolf
 *	9/7/05
 */ 
#ifndef __MOVEMAG_HEADER
#define __MOVEMAG_HEADER

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

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

/*	ENUM DEFINITIONS */
/*	Device type: the first device is the move device, the second is the position read device */
enum movemag_device_type_enum {MOVEMAG_MANUAL_NONE, MOVEMAG_CM6K6_CM6K6, MOVEMAG_NONE_NONE};

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

/*	STRUCTURE DEFINITIONS */
struct movemag_param_struct
{
	int port_num;						/* RS232 port number */
	int cm6k6_addr;						/* Device address for the cm6k6 on the RS232 port */
	enum movemag_device_type_enum device_type;	/* Type of devices being used */
	int num_axis						/* Number of the motors connected */
	double acc;							/* Stage acceleration (m/s/s) */
	double vel;							/* Stage velocity (m/s) */
	double dist_to_pitch_pivot;			/* Distance between the actuator and the pitch pivot point (m) */
	double dist_to_yaw_pivot;			/* Distance between the actuator and the yaw pivot point (m) */
	double dist_to_roll_pivot;			/* Distance between the actuator and the roll pivot point (m) */
};

struct mag_pos_struct
{
	double x;
	double y;
	double z;
	double pitch;
	double yaw;
	double roll;
};

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

/*	PUBLIC FUNCTION DECLARATIONS  */
void movemag_init(char log_file_in[], struct movemag_param_struct movemag_param_in);

void movemag_rel_move_x(double x);
void movemag_rel_move_y(double y);
void movemag_rel_move_z(double z);
void movemag_rel_move_pitch(double pitch);
void movemag_rel_move_yaw(double yaw);
void movemag_rel_move_roll(double roll);

void movemag_abs_move_x(double x);
void movemag_abs_move_y(double y);
void movemag_abs_move_z(double z);
void movemag_abs_move_pitch(double pitch);
void movemag_abs_move_yaw(double yaw);
void movemag_abs_move_roll(double roll);

void movemag_get_pos(struct mag_pos_struct* pos);
void movemag_uzero(void);
void movemag_zero(void);

void movemag_exit(void);

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

/*	CONSTANTS  */
#define MOVEMAG_MAX_CMD 80

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

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

#endif