\subsection{Animatics SmartMotor}
\textit{Platforms: All}

\ \newline
This set of drivers is for the SmartMotor integrated motor/controller
units from \MxLink{http://www.animatics.com/}Animatics
\textit{(http://www.animatics.com/)}.
Vendor information about the SmartMotor can be found here
\MxLink{http://www.animatics.com/web/motors.html}
{http://www.animatics.com/web/motors.html}

The available drivers for this type of controller include:
\newline
\begin{tabular}{ll}
\textit{smartmotor} & - A motor driver for the Animatics SmartMotor. \\
\textit{smartmotor\_ain} 
	& - An analog input driver for the Animatics SmartMotor. \\
\textit{smartmotor\_aout} 
	& - An analog output driver for the Animatics SmartMotor. \\
\textit{smartmotor\_din} 
	& - An digital input driver for the Animatics SmartMotor. \\
\textit{smartmotor\_dout} 
	& - An digital output driver for the Animatics SmartMotor. \\
\end{tabular}
%
\newcommand{\MxFieldSmartmotorRsCDCZrecord}%
{Name of the serial port record used to communicate with a daisy chained
set of SmartMotors.}
%
\newcommand{\MxFieldSmartmotorMotorZaddress}%
{The numerical address of the SmartMotor on the daisy chain.}
%
\newcommand{\MxFieldSmartmotorSmartmotorZflags}%
{Flag bits used to modify the behavior of the \textit{smartmotor} driver.}
%
\ \newline
\textbf{\textit{smartmotor} record fields}
\newline\ \newline
\MxSmartmotorDriverFields


\ \newline
The valid flag bits for the \textit{smartmotor\_flags} field are as follows:
\newline\ \newline
\begin{tabular}{rcl}
  0x1 & - &\begin{varwidth}{.8\linewidth}
	This tells the MX driver to command a daisy chained set of
	SmartMotors to automatically assign addresses to themselves
	at startup time.
            \end{varwidth}
	\\
  0x2 & - &This tells the MX driver to assume that the SmartMotors echo
	all commands sent to them.\\
0x1000 & - &This enables limit switches during home searches.\\
\end{tabular}

\newcommand{\MxFieldSmartmotorZainSmartmotorZrecord}%
{Name of the SmartMotor record that this port belongs to.}
\newcommand{\MxFieldSmartmotorZainPortZname}%
{Smartmotor port name.  See below for a list.}
%
%\ \newline
\textbf{\textit{smartmotor\_ain} record fields}
\newline\ \newline
\MxSmartmotorZainDriverFields

\newcommand{\MxFieldSmartmotorZaoutSmartmotorZrecord}%
{Name of the SmartMotor record that this port belongs to.}
\newcommand{\MxFieldSmartmotorZaoutPortZname}%
{Smartmotor port name.  See below for a list.}
%
\ \newline
\textbf{\textit{smartmotor\_aout} record fields}
\newline\ \newline
\MxSmartmotorZaoutDriverFields

\newcommand{\MxFieldSmartmotorZdinSmartmotorZrecord}%
{Name of the SmartMotor record that this port belongs to.}
\newcommand{\MxFieldSmartmotorZdinPortZname}%
{Smartmotor port name.  See below for a list.}
%
\ \newline
\textbf{\textit{smartmotor\_din} record fields}
\newline\ \newline
\MxSmartmotorZdinDriverFields

\newcommand{\MxFieldSmartmotorZdoutSmartmotorZrecord}%
{Name of the SmartMotor record that this port belongs to.}
\newcommand{\MxFieldSmartmotorZdoutPortZname}%
{Smartmotor port name.  See below for a list.}
%
\ \newline
\textbf{\textit{smartmotor\_dout} record fields}
\newline\ \newline
\MxSmartmotorZdoutDriverFields
\newline

\ \newline
  \textbf{Allowed Port Names}
  The allowed port names for SmartMotor I/O ports fall into several categories:
  \begin{itemize}
    \item \textit{Onboard I/O ports} - The allowed names for onboard I/O
      ports are \textit{UA, UB, UC, UD, UE, UF, UG, UI,} and \textit{UJ.}
    \item \textit{Anilink analog input ports} - Analog input port names
      are two characters long.  The first character is a letter in the range
      from \textit{A} to \textit{H}.  The second character is a number in
      the range from \textit{1} to \textit{4}.  Some examples are:
      \textit{A3, D1,} and \textit{G4}.
    \item \textit{Anilink analog output ports} - Analog output port names
      are one character long in the range from \textit{A} to \textit{H}.
    \item \textit{Anilink digital I/O ports} - These are either two or three
      characters long.  The first character is a letter in the range from
      \textit{A} to \textit{H}.  The remaining characters are a number in
      the range from \textit{0} to \textit{63}.
    \item \textit{Temperature} - The name of the temperature sensor port
      is \textit{TEMP}.
\end{itemize}

