# Generated from http://dvb.welho.fi/hel5-sidump1.xml
# 2016-01-06 15:42:32.073637
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#ifndef __CPHIDGETSERVO
#define __CPHIDGETSERVO
#include "cphidget.h"
#include "cphidgetadvancedservo.h"
/** \defgroup phidservo Phidget Servo
* \ingroup phidgets
* Calls specific to the Phidget Servo. See the product manual for more specific API details, supported functionality, units, etc.
* @{
*/
DPHANDLE(Servo)
CHDRSTANDARD(Servo)
/**
* Gets the number of motors supported by this controller.
* @param phid An attached phidget servo handle.
* @param count The motor count.
*/
CHDRGET(Servo,MotorCount,int *count)
/**
* Gets the current position of a motor.
* @param phid An attached phidget servo handle.
* @param index The motor index.
* @param position The motor position.
*/
CHDRGETINDEX(Servo,Position,double *position)
/**
* Sets the current position of a motor.
* @param phid An attached phidget servo handle.
* @param index The motor index.
* @param position The motor position.
*/
CHDRSETINDEX(Servo,Position,double position)
/**
* Gets the maximum position that a motor can be set to.
* @param phid An attached phidget servo handle.
* @param index The motor index.
* @param max The maximum position.
*/
CHDRGETINDEX(Servo,PositionMax,double *max)
/**
* Gets the minimum position that a motor can be set to.
* @param phid An attached phidget servo handle.
* @param index The motor index.
* @param min The minimum position.
*/
CHDRGETINDEX(Servo,PositionMin,double *min)
/**
* Sets a position change event handler. This is called when the position changes.
* @param phid An attached phidget servo handle
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENTINDEX(Servo,PositionChange,double position)
/**
* Gets the engaged state of a motor. This is whether the motor is powered or not.
* @param phid An attached phidget servo handle
* @param index The motor index.
* @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRGETINDEX(Servo,Engaged,int *engagedState)
/**
* Sets the engaged state of a motor. This is whether the motor is powered or not.
* @param phid An attached phidget servo handle
* @param index The motor index.
* @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRSETINDEX(Servo,Engaged,int engagedState)
/**
* Gets the servo type of a motor.
* @param phid An attached phidget advanced servo handle
* @param index The motor index.
* @param servoType The servo type.
*/
CHDRGETINDEX(Servo,ServoType,CPhidget_ServoType *servoType)
/**
* Sets the servo type of a motor.
* @param phid An attached phidget advanced servo handle
* @param index The motor index.
* @param servoType The servo type.
*/
CHDRSETINDEX(Servo,ServoType,CPhidget_ServoType servoType)
/**
* Sets the servo parameters of a motor.
* @param phid An attached phidget advanced servo handle
* @param index The motor index.
* @param min_us The minimum supported PCM in microseconds.
* @param max_us The maximum supported PCM in microseconds.
* @param degrees The degrees of rotation defined by the given PCM range.
*/
CHDRSETINDEX(Servo,ServoParameters,double min_us,double max_us,double degrees)
#ifndef REMOVE_DEPRECATED
DEP_CHDRGET("Deprecated - use CPhidgetServo_getMotorCount",Servo,NumMotors,int *)
DEP_CHDRSETINDEX("Deprecated - use CPhidgetServo_setPosition",Servo,MotorPosition,double)
DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPosition",Servo,MotorPosition,double *)
DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPositionMax",Servo,MotorPositionMax,double *)
DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPositionMin",Servo,MotorPositionMin,double *)
DEP_CHDREVENTINDEX("Deprecated - use CPhidgetServo_set_OnPositionChange_Handler",Servo,MotorPositionChange,double motorPosition)
DEP_CHDRSETINDEX("Deprecated - use CPhidgetServo_setEngaged",Servo,MotorOn,int)
DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getEngaged",Servo,MotorOn,int *)
#endif
#ifndef EXTERNALPROTO
PHIDGET21_API int CCONV setupNewServoParams(CPhidgetServoHandle phid, int Index, CPhidgetServoParameters params);
#define SERVO_MAXSERVOS 4
struct _CPhidgetServo {
CPhidget phid;
int (CCONV *fptrPositionChange)(CPhidgetServoHandle, void *, int, double);
void *fptrPositionChangeptr;
//Deprecated
int (CCONV *fptrMotorPositionChange)(CPhidgetServoHandle, void *, int, double);
void *fptrMotorPositionChangeptr;
double motorPositionEcho[SERVO_MAXSERVOS];
unsigned char motorEngagedStateEcho[SERVO_MAXSERVOS];
double motorPosition[SERVO_MAXSERVOS];
unsigned char motorEngagedState[SERVO_MAXSERVOS];
unsigned char fullStateEcho;
double motorPositionMax[SERVO_MAXSERVOS], motorPositionMin[SERVO_MAXSERVOS];
double motorPositionMaxLimit, motorPositionMinLimit;
CPhidgetServoParameters servoParams[ADVSERVO_MAXSERVOS];
char *servoParamString[ADVSERVO_MAXSERVOS];
unsigned char outputPacket[8];
unsigned int outputPacketLen;
} typedef CPhidgetServoInfo;
#endif
/** @} */
#endif
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