ParameterTypes.h

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/* ParameterTypes.h - Parameter Extraction type definitions header file */

/*
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#ifndef _INC_MOTOMANPARAMETER_TYPES_H
#define _INC_MOTOMANPARAMETER_TYPES_H

#ifdef __cplusplus
extern "C" {
#endif

typedef struct
{
        float PtoR[MAX_PULSE_AXES]; //Array to store PULSE TO RADIAN conversion factors for each axes
} PULSE_TO_RAD;

typedef struct
{
        float PtoM[MAX_PULSE_AXES]; //Array to store PULSE TO METER conversion factors for each axes
} PULSE_TO_METER;

typedef enum
{
        AXIS_ROTATION,
        AXIS_LINEAR,
        AXIS_INVALID
} AXIS_TYPE;

typedef struct
{
        AXIS_TYPE       type[MAX_PULSE_AXES];   //Array to store whether axis is rotational or linear
} AXIS_MOTION_TYPE;

typedef struct
{
        BOOL  bValid;                   //TRUE if ulSourceAxis != 0
        INT32 ulSourceAxis;             
        INT32 ulCorrectionAxis;  
        float fCorrectionRatio; 
} FB_AXIS_CORRECTION;

typedef struct
{
        FB_AXIS_CORRECTION  correction[MAX_PULSE_AXES];
} FB_PULSE_CORRECTION_DATA;

typedef struct
{
        UINT32  qtyOfOutFiles;                          
        UINT32  qtyOfHighPriorityTasks;         
        UINT32  qtyOfNormalPriorityTasks;       
} TASK_QTY_INFO;
        
typedef struct
{
        UINT16 periodInMilliseconds;
} GP_INTERPOLATION_PERIOD;

typedef struct
{
        UINT32  maxIncrement[MAX_PULSE_AXES];
} MAX_INCREMENT_INFO;

typedef struct
{
        int ctrlGrp;                            //Robot control group
        int IpCycleInMilliseconds;      //Interpolation Cycle in milliseconds
        MAX_INCREMENT_INFO info;        //Maximum increment per interpolation cycle
} MAX_INC_PIPC;

typedef struct
{
        INT32 maxLimit[MAX_PULSE_AXES];
        INT32 minLimit[MAX_PULSE_AXES];
} JOINT_PULSE_LIMITS;

typedef struct
{
        INT32 maxLimit[MAX_PULSE_AXES];
} JOINT_ANGULAR_VELOCITY_LIMITS;

typedef struct
{
        BOOL bFeedbackSpeedEnabled;
        ULONG cioAddressForAxis[MAX_PULSE_AXES][2];
} JOINT_FEEDBACK_SPEED_ADDRESSES;

#ifdef __cplusplus
}
#endif

#endif