#pragma once
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#include "MotorControl.h"
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class AFX_EXT_CLASS CMotorControl_Umac : public CMotorControl
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{
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public:
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CMotorControl_Umac(int nIndex, DWORD dwPeriod=100, int nThreadCount = 1);
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virtual ~CMotorControl_Umac(void);
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public:
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// CMotorControl
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virtual int Connect(const CMotorControlInfo* pControlInfo);
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virtual void Disconnect();
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virtual BOOL ReadAddressValue(int nAddress, long &nValue);
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virtual BOOL WriteAddressValue(int nAddress, long nValue);
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virtual BOOL ReadAddressValue(int nAddress, float &fValue);
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virtual BOOL WriteAddressValue(int nAddress, float fValue);
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virtual BOOL ReadAddressValue(int nAddress, double &dValue);
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virtual BOOL WriteAddressValue(int nAddress, double dValue);
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// gantry
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virtual BOOL GantryManualGo(int nGantryIdx, const VectorDouble& vectorPos, int nMoveType);
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// get status
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virtual int GetStatus( int& nStatusCode, CString& strStatusMessage );
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protected:
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virtual BOOL ReadAxisPosition(float *pAxisPos, int nAxisCount);
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virtual BOOL ReadAddressValue(long nAddress, long *pArrayData, int nArrayCount);
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virtual BOOL WriteAddressValue(long nAddress, long *pArrayData, int nArrayCount);
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virtual BOOL ReadAddressValue(long nAddress, float *pArrayData, int nArrayCount);
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virtual BOOL WriteAddressValue(long nAddress, float *pArrayData, int nArrayCount);
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protected:
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UINT m_uDeviceID;
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};
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