Composite_Control/MOTYZ_DistanceControl.h Source File

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#include "HC_API.h"
#include "Composite_Control/Composite_Control.h"
 
namespace ControlAPI {
    
 
    class MOTYZ_FramingInternals;
    class HC_API MOTYZ_Framing : public CompositeFrameBase {
    public:
        HC_CLASS_META(MOTYZ_Framing)
        
     
        
        std::string zaberPort;
 
 
        std::string liftingColumnPort;
 
 
        #ifdef HC_API_MACRO_EXCLUDE_DOCS
        std::shared_ptr<MOTYZ_FramingInternals> internals;
        
        #endif
 
 
        void initialize(ControlSystem* system);
 
        void calibrate();
 
        Vector3D chartDisplacement_Ref;
        float liftingCol_refPos;
        Vector3D currentChartDisplacement;
 
        float stageVelocity = 20.0f;
 
        float stageAcceleration = 25.0f;
 
        void home();
 
        void go_Chart_YZ(Vector3D chartDisplacement);
 
 
       
    };
 
 
 
}
 
 
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