motion

type Controller interface {
	// Mover - all Controllers must be Movers
	Mover
}

type Enabler interface {
	// Enable enables an axis
	Enable(string) error

	// Disable disables an axis
	Disable(string) error

	// GetEnabled gets if an axis is enabled
	GetEnabled(string) (bool, error)
}

type HTTPMotionController struct {
	Controller

	RouteTable generichttp.RouteTable
}

type HomeQuerier interface {
	// Homed gets if an axis is homed
	Homed(string) (bool, error)
}

type InPositionQueryer interface {
	// GetInPosition returns True if the axis is in position
	GetInPosition(string) (bool, error)
}

type Initializer interface {
	// Initialize an axis, engaging the control electronic controls
	Initialize(string) error
}

type LimitMiddleware struct {
	// Limits contains the server imposed limits on the controller
	Limits map[string]util.Limiter

	// Mov is a reference to the mover, used to query axis positions
	Mov Mover
}

type Mover interface {
	// GetPos gets the current position of an axis
	GetPos(string) (float64, error)

	// MoveAbs moves an axis to an absolute position
	MoveAbs(string, float64) error

	// MoveRel moves an axis a relative amount
	MoveRel(string, float64) error

	// Home homes an axis
	Home(string) error
}

type Speeder interface {
	// SetVelocity sets the velocity setpoint on the axis
	SetVelocity(string, float64) error

	// GetVelocity gets the velocity setpoint on the axis
	GetVelocity(string) (float64, error)
}

type Stopper interface {
	// Stop aborts motion of the axis
	Stop(string) error
}

type SynchronizationController interface {
	// SetSynchronous places axis (string) in sync mode
	SetSynchronous(string, bool) error

	// GetSynchronous queries whether axis (string) is in sync mode
	GetSynchronous(string) (bool, error)
}