commit b611213384a0f6e9e0c23551c5a34a43484119af
Author: Harald Wolff-Thobaben <harald@l--n.de>
Date:   Fri Aug 20 21:04:05 2021 +0200

    Initial Commit

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..add57be
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+bin/
+obj/
+/packages/
+riderModule.iml
+/_ReSharper.Caches/
\ No newline at end of file
diff --git a/.idea/.idea.ln.motion.interfaces/.idea/.gitignore b/.idea/.idea.ln.motion.interfaces/.idea/.gitignore
new file mode 100644
index 0000000..c4c7d27
--- /dev/null
+++ b/.idea/.idea.ln.motion.interfaces/.idea/.gitignore
@@ -0,0 +1,13 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Rider ignored files
+/modules.xml
+/projectSettingsUpdater.xml
+/.idea.ln.motion.interfaces.iml
+/contentModel.xml
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/.idea/.idea.ln.motion.interfaces/.idea/encodings.xml b/.idea/.idea.ln.motion.interfaces/.idea/encodings.xml
new file mode 100644
index 0000000..df87cf9
--- /dev/null
+++ b/.idea/.idea.ln.motion.interfaces/.idea/encodings.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding" addBOMForNewFiles="with BOM under Windows, with no BOM otherwise" />
+</project>
\ No newline at end of file
diff --git a/.idea/.idea.ln.motion.interfaces/.idea/indexLayout.xml b/.idea/.idea.ln.motion.interfaces/.idea/indexLayout.xml
new file mode 100644
index 0000000..7b08163
--- /dev/null
+++ b/.idea/.idea.ln.motion.interfaces/.idea/indexLayout.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="UserContentModel">
+    <attachedFolders />
+    <explicitIncludes />
+    <explicitExcludes />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/.idea.ln.motion.interfaces/.idea/vcs.xml b/.idea/.idea.ln.motion.interfaces/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/.idea.ln.motion.interfaces/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/build.ln b/build.ln
new file mode 100644
index 0000000..afa2528
--- /dev/null
+++ b/build.ln
@@ -0,0 +1,17 @@
+{
+    "templates": [
+        "dotnet"
+    ],
+    "env": {
+        "NUGET_SOURCE": "https://nexus.niclas-thobaben.de/repository/l--n.de/",
+        "CONFIGURATION": "Release"
+    },
+    "stages": [
+        {
+            "name": "prepare",
+            "commands": [
+                "dotnet prepare */*.csproj"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/ln.motion.interfaces.sln b/ln.motion.interfaces.sln
new file mode 100644
index 0000000..bde89ff
--- /dev/null
+++ b/ln.motion.interfaces.sln
@@ -0,0 +1,16 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ln.motion.interfaces", "ln.motion.interfaces\ln.motion.interfaces.csproj", "{A4A61C31-9EF4-4D4E-BFF1-E17C54AEF30C}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{A4A61C31-9EF4-4D4E-BFF1-E17C54AEF30C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A4A61C31-9EF4-4D4E-BFF1-E17C54AEF30C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A4A61C31-9EF4-4D4E-BFF1-E17C54AEF30C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A4A61C31-9EF4-4D4E-BFF1-E17C54AEF30C}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+EndGlobal
diff --git a/ln.motion.interfaces/Ax.cs b/ln.motion.interfaces/Ax.cs
new file mode 100644
index 0000000..c06f3f2
--- /dev/null
+++ b/ln.motion.interfaces/Ax.cs
@@ -0,0 +1,25 @@
+namespace ln.motion.interfaces
+{
+    public abstract class Ax
+    {
+        public virtual float CurrentSpeed { get; }
+        public virtual float CurrentPosition { get; }
+        public virtual AxValues CurrentValues => new AxValues() {Speed = CurrentSpeed, Position = CurrentPosition};
+        
+        public virtual float TargetSpeed { get; set; }
+        public virtual float TargetPosition { get; set; }
+
+        public virtual AxValues TargetValues
+        {
+            get => new AxValues() {Speed = TargetSpeed, Position = TargetPosition};
+            set
+            {
+                TargetPosition = value.Position;
+                TargetSpeed = value.Speed;
+            }
+        }
+        
+        public virtual bool IsEnabled { get; }
+        public virtual bool IsFaulted { get; }
+    }
+}
\ No newline at end of file
diff --git a/ln.motion.interfaces/AxValues.cs b/ln.motion.interfaces/AxValues.cs
new file mode 100644
index 0000000..19229c6
--- /dev/null
+++ b/ln.motion.interfaces/AxValues.cs
@@ -0,0 +1,8 @@
+namespace ln.motion.interfaces
+{
+    public struct AxValues
+    {
+        public float Speed;
+        public float Position;
+    }
+}
\ No newline at end of file
diff --git a/ln.motion.interfaces/DrivesInterface.cs b/ln.motion.interfaces/DrivesInterface.cs
new file mode 100644
index 0000000..16192d8
--- /dev/null
+++ b/ln.motion.interfaces/DrivesInterface.cs
@@ -0,0 +1,23 @@
+namespace ln.motion.interfaces
+{
+    public abstract class DrivesInterface
+    {
+        public abstract void Initialize();
+        
+        public abstract bool IsOnline { get; }
+
+        public abstract bool GetAxCurrentValues(out AxValues[] axValuesArray);
+        public abstract bool GetAxTargetValues(out AxValues[] axValuesArray);
+        public abstract bool SetAxTargetValues(AxValues[] axValuesArray);
+
+        public virtual bool SetAxTargetValues(int ax, AxValues axValues)
+        {
+            if (GetAxTargetValues(out AxValues[] axValuesArray))
+            {
+                axValuesArray[ax] = axValues;
+                return SetAxTargetValues(axValuesArray);
+            }
+            return false;
+        }
+    }
+}
\ No newline at end of file
diff --git a/ln.motion.interfaces/Kinematic.cs b/ln.motion.interfaces/Kinematic.cs
new file mode 100644
index 0000000..bff2486
--- /dev/null
+++ b/ln.motion.interfaces/Kinematic.cs
@@ -0,0 +1,13 @@
+using System.Numerics;
+
+namespace ln.motion.interfaces
+{
+    public abstract class Kinematic
+    {
+        public Kinematic()
+        {
+        }
+        public abstract bool Direct(AxValues[] axValuesArray, out Matrix4x4 position);
+        public abstract bool Inverse(Matrix4x4 position, AxValues[] axValues);
+    }
+}
\ No newline at end of file
diff --git a/ln.motion.interfaces/ln.motion.interfaces.csproj b/ln.motion.interfaces/ln.motion.interfaces.csproj
new file mode 100644
index 0000000..beb0cd3
--- /dev/null
+++ b/ln.motion.interfaces/ln.motion.interfaces.csproj
@@ -0,0 +1,11 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net5.0</TargetFramework>
+        <PackageVersion>0.1.0</PackageVersion>
+        <Authors>harald@l--n.de</Authors>
+        <Company>l--n.de</Company>
+        <AssemblyVersion>0.1.0</AssemblyVersion>
+    </PropertyGroup>
+
+</Project>