#include "asynch.h"

#define SERVO1 1
#define SERVO2 2
#define SERVO3 3
#define SERVO4 4
#define SERVO5 5
#define SERVO6 6
#define SERVO7 7
#define SERVO8 8

#define NC -1

class SV200
{
private:
	Asynch *comm;

	char numStr[10];
	unsigned MasterDelay;
	int svSelect;
	int savePosition[8];

	void serlXmitStr(char *str);

public:
	SV200(int comPort = COM1, int baudRate = 9600, unsigned mDelay = 0);
	~SV200();

	void svCmmd(char *cmmd, int param);
	void svCmmd2(char *cmmd, int param1, int param2);
	void selectBoard(int board);
	void selectServo(int servo);
	void moveSelect(int position);
	void move(int servo, int position);
	void moveAll(int S1, int S2, int S3, int S4, int S5, int S6, int S7, int S8);
	void slowMove(int servo, int position,int speed);
	int getNumFromSV200(void);
	unsigned char getAD(int channel);
	int adjADJoystick(int position);
};