.. currentmodule:: sardana.pool.controller

.. _sardana-controller-howto:

===================
Writing controllers
===================

This chapter provides the necessary information to write controllers in
sardana.

Before writing a new controller you should check the `Sardana plugins
catalogue <https://gitlab.com/sardana-org/sardana-plugins>`_.
There's a high chance that somebody already wrote the plugin for your hardware.

An overview of the pool controller concept can be found 
:ref:`here <sardana-controller-overview>`.

The complete controller :term:`API` can be found
:ref:`here <sardana-controller-api>`.

First, the common interface to all controller types is explained. After, a
detailed chapter will focus on each specific controller type:

.. toctree::
    :maxdepth: 1

    General controller writing <overview>
    Controller testing <testing>
    Motor controller <motor>
    Counter/timer controller <counter_timer>
    0D controller <zerod>
    1D controller <oned>
    2D controller <twod>
    Trigger/gate controller <trigger_gate>
    IO register controller <io_register>
    Pseudo motor controller <pseudo_motor>
    Pseudo counter controller <pseudo_counter>

.. seealso:: See the :ref:`sardana-adding-elements` section for information on
    how to add, configure and use controllers.