SMCHydra

Tango Server for controlling the two motors connected to the axis 1 and 2 of a SMC Hydra Controller (from miCos GmbH). The Server uses two classes: SMCHydraCtrl (Socket interface or serial) and SMCHydraMotor (for controlling every single axis). It is also valid for controlling the axis of the SMC Pegasus Controller (the property FlagPegasus of the SMCHydraMotor class has to be set to 1 in this case).

The code of the SMCHydraMotor class includes the SMCHydraCtrl class. This class is used to generate the corresponding library (libSMCHydraCtrl.a).

Create one tango process for each controller (and the corresponding two motors), in other case errors can be produced: when a motor in one controller is moved the other controller returns error in the state.