Improved documentation of tower-specific codes and added manual from Marcel Schild.

src/detectorTowerController.cpp

@@ -358,9 +358,15 @@ asynStatus detectorTowerController::pollDetectorAxes(
 
     /*
     Query the following information:
-    - In-position flag
-    - Position state
-    - Axis error
+    - Not-in-position flag: 1 if the tower is moving, 0 if not.
+    - Position state (0: not ready, 1: ready, 2: moving to or in changing
+    position, 3: moving to working state, 4: adjusting angle origin COM, 5:
+    adjusting lift origin COZ)
+    - Axis error (0: no error, 1: brake COZ not released, 2: already in motion
+    or motor not ready, 3: FTZ error, 4: braking during move, 5: removed release
+    during movement, 6: Emergency stop, 7: COZ error, 8: COM error, 9: COX
+    error, 10: end switch FTZ, 11, following error FTZ, 12: exceeds negative
+    limit COM, 13: exceeds positive limit COM)
     - Beam angle position (COM at AMOR)
     - Beam angle limits
     - Beam angle origin
@@ -454,8 +460,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetCountPosState = false;
 
-        snprintf(errorMessage, sizeof(errorMessage),
-                 "Try `det_nu.reset()`.");
+        snprintf(errorMessage, sizeof(errorMessage), "Try `det_nu.reset()`.");
 
         pollStatus = asynError;
         break;