Encoder.h

#ifndef ENCODER_H
#define ENCODER_H

#include "carma/szautil/Axis.h"
#include "carma/antenna/sza/antenna/control/WrapMode.h"

namespace sza {
  namespace antenna {
    namespace control {
      
      class PmacAxis;
      
      class Encoder {
        
      public:
        
        Encoder(sza::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);
        
        sza::util::Axis::Type getAxis();
        
        void convertMountToEncoder(double angle, double rate, 
                                   PmacAxis* axis, int current, bool ignoreWrapLogic=true);
        void updateMountLimits();
        
        double getMountMin();
        
        double getMountMax();
        
        signed getSlewRate();
        
        double convertCountsToSky(int count);
        
        void packZero(signed* s_elements);
        
        void packCountsPerTurn(signed* s_elements);
        
        void packLimits(signed* s_elements);
        
        void setWrapMode(WrapMode::Mode mode);
    WrapMode::Mode getWrapMode();
    std::string getWrapModeString();
    
      private:
        
        sza::util::Axis::Type axis_;       
        
        double zero_;           
        
        double countsPerRadian_;
        
        int countsPerTurn_;     
        
        int min_;               
        
        int max_;               
        
        double mountMin_;       
        
        double mountMax_;       
        
        signed slewRate_;       
        
        WrapMode::Mode wrapMode_;

      }; // End class Encoder
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif // End #ifndef