##

#  
#                      RS232-SigmaKoki
#    
#  Ruby interface to Windows Serial Port API
#  
#  author      hugo benichi
#  email       [email protected]
#  copyright   2012 hugo benichi  
#  version     0.1.0
#
##

 installation:  

   run in the root directory
     rake gem_install

   it will compile the gem library and produce a .gem package for ruby
   it will then install the .gem automatically

 usage: 

   cf test/test_rs232-sigmakoki.rb

   the list of commands is

     home                # brings back both state to mechanical origin
     stop                # stop with deceleration
     stop!               # emergency stop
     status              # current state status
     rom                 # internal rom version
     ready?
     busy?               # is the stage ready to accept the next command
     jog '++'|'++'|'+-'  # slowly moves both stages in + or - direction
     move a, b           # move stage 1 of a steps, and stage 2 of b steps (b optional)  
     move! a, b          # same as move, but wait until the stages are ready             
     position            # return the position of both stages
     position_of i       # return the position of stage i (1,2)