#pragma once
#include "Hal.h"

//////////////////////////////////////////////////////////////////////
//
// HAL_Motion.h : interface for the Motion related functions
//
//////////////////////////////////////////////////////////////////////

void HAL_Motion_HomeStatus(bool &);
HAL_STATUS HAL_Motion_IsSupported(UINT &Type);
HAL_STATUS HAL_Motion_Startup(bool bHome);
HAL_STATUS HAL_Motion_GetAxisCount(enum HAL_MOTION_AXIS_TYPE AxisType, int &nAxis);
HAL_STATUS HAL_Motion_GetSpeedXYZ(double &Speed);
HAL_STATUS HAL_Motion_SetSpeedXYZ(double Speed);
//HAL_STATUS HAL_Motion_GetSpeedXYZ1(double &SpeedX,double &SpeedY,double &SpeedZ);
//HAL_STATUS HAL_Motion_SetSpeedXYZ1(double SpeedX, double SpeedY, double SpeedZ);
HAL_STATUS HAL_Motion_GetSpeedR(double &Speed);
HAL_STATUS HAL_Motion_SetSpeedR(double Speed);
HAL_STATUS HAL_Motion_GetAccelerationXYZ(double &AccelX, double &AccelY, double &AccelZ);
HAL_STATUS HAL_Motion_SetAccelerationXYZ(double AccelX, double AccelY, double AccelZ);
HAL_STATUS HAL_Motion_GetAccelerationR(double &AccelR);
HAL_STATUS HAL_Motion_SetAccelerationR(double AccelQ);
HAL_STATUS HAL_Motion_GetPositionXYZ(UINT GetAxisTypes, double &PositionX, double &PositionY,
									                   double &PositionZ, double &Time);
HAL_STATUS HAL_Motion_SetPositionXYZ(UINT SetAxisType, double PositionX, double PositionY,
									                   double PositionZ, enum HAL_MOTION_MOVE_TYPE eType, double flyRadius);
HAL_STATUS HAL_Motion_GetPositionR(UINT GetAxisTypes, double &PositionR, double &Time);
HAL_STATUS HAL_Motion_SetPositionR(UINT SetAxisTypes, double PositionR,
//								                   enum HAL_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
HAL_STATUS HAL_Motion_GetSettleTime(double &SettleTime);
HAL_STATUS HAL_Motion_GetDeadband(double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR);
HAL_STATUS HAL_Motion_GetRefreshDeadband(double &Deadband);
HAL_STATUS HAL_Motion_IsHomed(bool &bHomed);
HAL_STATUS HAL_Motion_GetStageLimits(double *StageLimitsMax, double *StageLimitsMin);
HAL_STATUS HAL_Motion_SetStageLimits(bool bStageLimitsEnabled, double *StageLimitsMax, double *StageLimitsMin);
HAL_STATUS HAL_Motion_GetMaxSpeed(double *MaxSpeed);
HAL_STATUS HAL_Motion_Shutdown(void);