next = ag.next
type = ag.type

pairs = function(table)
    return next, table, nil
end

ipairs = function(table)
    local iter_func = function(t, i)
        i = i + 1
        if t[i] == nil then
            return nil
        else
            return i, t[i]
        end
    end
    return iter_func, table, 0
end

ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
    local function setAMotorAxis(amotor, anum, axis)
        local rel, x, y, z, angle = 0, 1, 0, 0, 0
        for k, v in pairs(axis) do
            if     (k == "rel") then
                rel = v
            elseif (k == "x") then
                x = v
            elseif (k == "y") then
                y = v
            elseif (k == "z") then
                z = v
            elseif (k == "angle") then
                angle = v
            elseif (k == "lo_stop") then
                amotor:setLoStop(v)
            elseif (k == "hi_stop") then
                amotor:setHiStop(v)
            elseif (k == "vel") then
                amotor:setVel(v)
            elseif (k == "fmax") then
                amotor:setFMax(v)
            elseif (k == "bounce") then
                amotor:setBounce(v)
            end
        end
        amotor:setAxis(anum, rel, x, y, z)
    end

    local o1 = obj1
    local o2 = obj2
    local num_axes = 0

    if (type(obj1) == "number") then
        if (obj1 == 0) then
            o1 = { id = 0 }
        end
    end

    if (type(obj2) == "number") then
        if (obj2 == 0) then
            o2 = { id = 0 }
        end
    end

    local amotor = ag._createAMotor(o1, o2)

    if (amotor ~= nil) then
        if (axis0 ~= nil) then
            setAMotorAxis(amotor, 0, axis0)
            num_axes = 1
            if (axis1 ~= nil) then
                setAMotorAxis(amotor, 1, axis1)
                num_axes = 1
                if (axis2 ~= nil) then
                    setAMotorAxis(amotor, 2, axis2)
                    num_axes = 2
                end
            end
        end
        amotor:setNumAxes(num_axes)
    else
        ag.println("Error creating AMotor!")
    end

    return amotor
end