cDriverSensoray626 Class Reference

cDriverSensoray626 offers an interface to the Sensoray 626 boards. More...

#include <CDriverSensoray626.h>

Inheritance diagram for cDriverSensoray626:

cGenericDevice List of all members.

Public Member Functions

 cDriverSensoray626 ()
 Constructor of cDriverSensoray626.
 ~cDriverSensoray626 ()
 Destructor of cDriverSensoray626.
int open ()
 Open connection to Sensoray626 board.
int close ()
 Close connection to Sensoray626 board.
int initialize (const bool a_resetEncoders=false)
 Initialize Sensoray626 board.
int command (int iCommand, void *iData)

Private Member Functions

void encoderInit ()
 Set encoders to the right operation mode.

Private Attributes

int m_boardHandle
 Handle to current board.
unsigned short m_wBaseAddress
 Board base address.
long homeposition [6]
 Initial values of the encoders to reset them.

Static Private Attributes

static int m_BOARD_NUM = 0
 Number of handles that have been initialized.

Detailed Description

cDriverSensoray626 offers an interface to the Sensoray 626 boards.


Constructor & Destructor Documentation

cDriverSensoray626::cDriverSensoray626 (  ) 

Constructor of cDriverSensoray626.

Constructor of cDriverSensoray626.

cDriverSensoray626::~cDriverSensoray626 (  ) 

Destructor of cDriverSensoray626.

Destructor of cDriverSensoray626.


Member Function Documentation

int cDriverSensoray626::open (  )  [virtual]

Open connection to Sensoray626 board.

Open connection to Sensoray board

Returns:
Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cDriverSensoray626::close (  )  [virtual]

Close connection to Sensoray626 board.

Close connection to the board, write a zero value to all DACs.

Returns:
Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cDriverSensoray626::initialize ( const bool  a_resetEncoders = false  )  [virtual]

Initialize Sensoray626 board.

Initializes board. In this implementation there's really nothing to do that hasn't been done in the opening phase.

Parameters:
a_resetEncoders Ignored; reserved for forward compatibility
Returns:
Return 0 is operation succeeds, -1 if an error occurs.

Reimplemented from cGenericDevice.

int cDriverSensoray626::command ( int  iCommand,
void *  iData 
) [virtual]

Send a command to the Sensoray626 board possible commands are: CHAI_CMD_GET_DEVICE_STATE: returns an int (1 board is ready, 0 board is NOT ready) CHAI_CMD_GET_ENCODER_0: reads encoder 0, returns counts value in a long CHAI_CMD_GET_ENCODER_1: reads encoder 1, returns counts value in a long CHAI_CMD_GET_ENCODER_2: reads encoder 2, returns counts value in a long CHAI_CMD_GET_ENCODER_3: reads encoder 3, returns counts value in a long CHAI_CMD_GET_ENCODER_4: reads encoder 4, returns counts value in a long CHAI_CMD_GET_ENCODER_5: reads encoder 5, returns counts value in a long CHAI_CMD_SET_DAC_0: writes a voltage to DAC 0 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_1: writes a voltage to DAC 1 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_2: writes a voltage to DAC 2 a value between +10 and -10 volts, which is a double CHAI_CMD_SET_DAC_3: writes a voltage to DAC 3 a value between +10 and -10 volts, which is a double

Reimplemented from cGenericDevice.

void cDriverSensoray626::encoderInit (  )  [private]

Set encoders to the right operation mode.

Sets all counters on the board to be used as encoders.


The documentation for this class was generated from the following files:
Generated on Mon Jun 11 09:41:47 2007 for CHAI 3D by  doxygen 1.5.2