Experimental Physics and
Industrial Control System

If you would like to use it with the motor record, then I suggest you write a driver derived from the asynMotorController and asynMotorAxis base classes.

 

There are quite a few such drivers in the current motor module that you can use as examples:

 

corvette:~/devel/motor/motorApp>find . -name '*.cpp'

./NPointSrc/C300MotorDriver.cpp

./MicroMoSrc/MVP2001Driver.cpp

./ImsSrc/ImsMDrivePlusMotorAxis.cpp

./ImsSrc/ImsMDrivePlusMotorController.cpp

./PIGCS2Src/PIE755Controller.cpp

./PIGCS2Src/PIGCSPiezoController.cpp

./PIGCS2Src/PIGCSMotorController.cpp

./PIGCS2Src/PIE517Controller.cpp

./PIGCS2Src/PIC702Controller.cpp

./PIGCS2Src/PIasynAxis.cpp

./PIGCS2Src/PIasynController.cpp

./PIGCS2Src/PIGCSController.cpp

./PIGCS2Src/PIHexapodController.cpp

./ACRSrc/ACRMotorDriver.cpp

./SmarActMCSSrc/smarActMCSMotorDriver.cpp

./MicosSrc/SMChydraDriver.cpp

./HytecSrc/HytecMotorDriver.cpp

./OmsAsynSrc/omsMAXv.cpp

./OmsAsynSrc/omsMAXvEncFunc.cpp

./OmsAsynSrc/omsMAXnet.cpp

./OmsAsynSrc/omsBaseController.cpp

./OmsAsynSrc/omsBaseAxis.cpp

./NewportSrc/AG_CONEX.cpp

./NewportSrc/SMC100Driver.cpp

./NewportSrc/HXPDriver.cpp

./NewportSrc/XPSController.cpp

./NewportSrc/XPSAxis.cpp

./NewportSrc/AG_UC.cpp

./PIGCS2Src_new/PIE755Controller.cpp

./PIGCS2Src_new/PIGCSPiezoController.cpp

./PIGCS2Src_new/PIGCSMotorController.cpp

./PIGCS2Src_new/PIE517Controller.cpp

./PIGCS2Src_new/PIC702Controller.cpp

./PIGCS2Src_new/PIasynAxis.cpp

./PIGCS2Src_new/PIasynController.cpp

./PIGCS2Src_new/PIGCSController.cpp

./PIGCS2Src_new/PIHexapodController.cpp

./MotorSrc/asynMotorAxis.cpp

./MotorSrc/asynMotorController.cpp

./MicronixSrc/MMC200Driver.cpp

./AcsSrc/MCB4BDriver.cpp

 

MCB4BDriver and ACSMotorDriver are quite simple and easy to understand.   You insert calls to your vendor’s .so files in functions like AttocubeAxis::move(), AttocubeAxis::poll(), etc.

 

Mark