Encoder.h

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#ifndef ENCODER_H
#define ENCODER_H

#include "gcp/util/common/Axis.h"
#include "gcp/util/common/Angle.h"

namespace gcp {
  namespace antenna {
    namespace control {
      
      class PmacAxis;
      
      class Encoder {
    
      public:
    
    Encoder(gcp::util::Axis::Type axis);
    
    void reset();
    
    void setZero(double zero);
    
    void setSlewRate(long rate);
    
    void setCountsPerTurn(int per_turn);
    
    void setCountsPerRadian(double countsPerRadian);
    
    void setLimits(long min, long max);
    void setLimits(gcp::util::Angle& min, gcp::util::Angle& max);
    
    gcp::util::Axis::Type getAxis();
    
    void convertMountToEncoder(double angle, double rate, 
                   PmacAxis* axis, int current);

    void applyLimits(double angle, double rate, 
             PmacAxis* axis, double current);
    void updateMountLimits();
    
    double getMountMin();
    
    double getMountMax();
    
    signed getSlewRate();
    
    double convertCountsToSky(int count);
    
    double convertAngleToSky(gcp::util::Angle& angle);

        gcp::util::Angle convertSkyToAngle(gcp::util::Angle sky);
    
    void packZero(signed* s_elements);
    
    void packCountsPerTurn(signed* s_elements);
    
    void packLimits(signed* s_elements);
    
      private:
    
    gcp::util::Axis::Type axis_;       
    
    double zero_;           
    
    double countsPerRadian_;
    
    int countsPerTurn_;     
    
    int min_;               
    
    int max_;               

    /*
     * The minimum angle limit
     */
    gcp::util::Angle minLim_;               
    
    gcp::util::Angle maxLim_;               
    
    double mountMin_;       
    
    double mountMax_;       
    
    signed slewRate_;       
    
      }; // End class Encoder
      
    }; // End namespace control
  }; // End namespace antenna
} // End namespace gcp

#endif // End #ifndef