//*********************************************************
// MSERVO3.h                                   02/03/2001
//
// using MSTEP3.PRJ to compile
// Turbo C++ compiler                      
//********************************************************* 
//#define WIN
//#define WINUSER
#define DOS
  
#ifdef WIN                  
  #define EXPORTS           //for WIN95                  
#endif
                  
#ifdef WINUSER
  #define EXPORTS extern "C" __declspec (dllexport) //for WIN95 user
#endif

#ifdef DOS
  #define EXPORTS   extern    //DOS
  #define CALLBACK            //DOS
#endif
//---------------------------------------------------------
#define YES    1
#define NO     0
#define ON     1
#define OFF    0

#define CW_CCW    0
#define PULSE_DIR 1

#define NORMAL_DIR   0
#define REVERSE_DIR  1

#define FW      0
#define BW      1
#define CW      0
#define CCW     1

#define X_axis   1
#define Y_axis   2
#define Z_axis   3

#define XY_plane 1
#define XZ_plane 2
#define YZ_plane 3

#define ENABLE_X 0x01
#define ENABLE_Y 0x02
#define ENABLE_Z 0x04
//----- control mode -----------------
#define SIMU_MODE  0
#define TEST_MODE  1
#define CLOSE_MODE 2

#define READY 0
#define BUSY  1

#define pi 3.141592654

//####################################################################
#ifndef DOS
 EXPORTS void CALLBACK MSERVO3_INITIAL();
 EXPORTS void CALLBACK MSERVO3_END();
#endif

EXPORTS unsigned char CALLBACK MSERVO3_REGISTRATION(unsigned char cardNo,
                                          unsigned int address);
EXPORTS unsigned char CALLBACK MSERVO3_DI(unsigned char cardNo);
EXPORTS void          CALLBACK MSERVO3_DO(unsigned char cardNo, unsigned char value);
EXPORTS unsigned char CALLBACK MSERVO3_MSC(unsigned char cardNo);
EXPORTS void          CALLBACK MSERVO3_WAIT_X(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_IS_X_STOP(unsigned char cardNo);
EXPORTS void          CALLBACK MSERVO3_WAIT_Y(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_IS_Y_STOP(unsigned char cardNo);
EXPORTS void          CALLBACK MSERVO3_WAIT_Z(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_IS_Z_STOP(unsigned char cardNo);
//-----------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_SET_CONFIG(unsigned char cardNo,
                               unsigned char config,
                               unsigned char in_position,
                               unsigned int  lag_error,
                               unsigned int  error_range);
EXPORTS void CALLBACK MSERVO3_SET_CONTROL_MODE(unsigned char cardNo,
                                     unsigned char x_mode,
                                     unsigned char y_mode,
                                     unsigned char z_mode);
EXPORTS void CALLBACK MSERVO3_SET_VAR(unsigned char cardNo,
                            unsigned char set_DDA_cycle,
                            unsigned char set_Acc_Dec,
                            unsigned int  set_Low_Speed,
                            unsigned int  set_High_Speed,
                            unsigned int  set_arc_speed);
EXPORTS void CALLBACK MSERVO3_SET_DEFDIR(unsigned char cardNo,
                               unsigned char defdirX,
                               unsigned char defdirY,
                               unsigned char defdirZ);
EXPORTS void CALLBACK MSERVO3_SET_SERVO_ON(unsigned char cardNo,
                                 unsigned char sonX,
                                 unsigned char sonY,
                                 unsigned char sonZ);
EXPORTS void CALLBACK MSERVO3_SET_X_CONTROLLER(unsigned char cardNo,
                                     unsigned int Kp,
                                     unsigned int Kd);
EXPORTS void CALLBACK MSERVO3_SET_Y_CONTROLLER(unsigned char cardNo,
                                     unsigned int Kp,
                                     unsigned int Kd);
EXPORTS void CALLBACK MSERVO3_SET_Z_CONTROLLER(unsigned char cardNo,
                                     unsigned int Kp,
                                     unsigned int Kd);
EXPORTS void CALLBACK MSERVO3_SET_ZERO(unsigned char cardNo,
                                                         unsigned char axis);
EXPORTS void CALLBACK MSERVO3_PRESET_POSITION(unsigned char cardNo, unsigned char axis,
                                    long preset_position);
EXPORTS void CALLBACK MSERVO3_SET_PE(unsigned char cardNo,
                           unsigned char axis,
                           unsigned int index,
                           char p1,
                           char p2,
                           char p3,
                           char p4,
                           char p5);
EXPORTS void CALLBACK MSERVO3_CALV(unsigned char cardNo,
                         unsigned char axis,
                         int value);  
EXPORTS void CALLBACK MSERVO3_SET_NC(unsigned char cardNo, unsigned char sw);
//-------------------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_STOP(unsigned char cardNo, unsigned char axis);
EXPORTS void CALLBACK MSERVO3_DEC_STOP(unsigned char cardNo, unsigned char axis);
EXPORTS void CALLBACK MSERVO3_RESET_SYSTEM(unsigned char cardNo);
EXPORTS void CALLBACK MSERVO3_STOP_ALL(unsigned char cardNo);
EXPORTS void CALLBACK MSERVO3_EMG_STOP(unsigned char cardNo);
//-------------------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_BACK_HOME(unsigned char cardNo,
                                unsigned char axis,
                                unsigned char set_home_speed,
                                unsigned char set_search_speed);
EXPORTS void CALLBACK MSERVO3_PULSE_MOVE(unsigned char cardNo,
                               unsigned char axis,
                               long pulseN,
                               unsigned int move_speed);
EXPORTS void CALLBACK MSERVO3_INTP_PULSE(unsigned char cardNo,
                                int Xpulse,
                                int Ypulse,
                                int Zpulse);
EXPORTS void CALLBACK MSERVO3_CONSTANT_SPEED(unsigned char cardNo,
                                   unsigned char axis,
                                   unsigned char dir,
                                   unsigned int move_speed);
//-------------------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_INTP_XYZ(unsigned char cardNo,
                              long x,long y,long z,unsigned int speed);
//-----------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_INTP_LINE01(unsigned char cardNo,
                                unsigned char plane,
                                long x,
                                long y,
                                unsigned int speed);
EXPORTS void CALLBACK MSERVO3_INTP_LINE(unsigned char cardNo,
                              long x,long y,unsigned int speed);
//-----------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_INTP_CIRCLE01(unsigned char cardNo,
                                  unsigned char plane,
                                  long x,
                                  long y,
                                  unsigned char dir,
                                  unsigned int speed);
EXPORTS void CALLBACK MSERVO3_INTP_CIRCLE(unsigned char cardNo,
                                long x,
                                long y,
                                unsigned char dir,
                                unsigned int speed);
//-----------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_INTP_ARC01(unsigned char cardNo,
                               unsigned char plane,
                               long x,
                               long y,
                               long R,
                               unsigned char dir,
                               unsigned int speed);
EXPORTS void CALLBACK MSERVO3_INTP_ARC(unsigned char cardNo,
                             long x,
                             long y,
                             long R,
                             unsigned char dir,
                             unsigned int speed);
//-----------------------------------------------------------------------
EXPORTS void CALLBACK MSERVO3_INTP_XYZ02(unsigned char cardNo,
                       long x,
                       long y,
                       long z,
                       unsigned int speed,
                       unsigned char acc_mode);
EXPORTS void CALLBACK MSERVO3_INTP_LINE02(unsigned char cardNo,
                                 unsigned char plane,
                                 long x,long y,
                                 unsigned int speed,
                                 unsigned char acc_mode);
EXPORTS void CALLBACK MSERVO3_INTP_CIRCLE02(unsigned char cardNo,
                           unsigned char plane,
                           long x,
                           long y,
                           unsigned char dir,
                           unsigned int speed,
                           unsigned char acc_mode);
EXPORTS void CALLBACK MSERVO3_INTP_ARC02(unsigned char cardNo,
                        unsigned char plane,
                        long x,
                        long y,
                        long R,
                        unsigned char dir,
                        unsigned int speed,
                        unsigned char acc_mode);
EXPORTS unsigned char CALLBACK MSERVO3_INTP_STOP();
//#######################################################################
EXPORTS void CALLBACK MSERVO3_GET_CARD(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_GET_SYS(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_GET_LIMIT(unsigned char cardNo);
EXPORTS unsigned char CALLBACK MSERVO3_GET_P1(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_XC(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_XP(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_YC(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_YP(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_ZC(unsigned char cardNo);
EXPORTS long          CALLBACK MSERVO3_GET_ZP(unsigned char cardNo);