lin-epics-modules/detectortower
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Lift and angle axis now move simultaneously
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Fixed a bug which caused the axes not to move in parallel, but after
each other.
This commit is contained in:
mathis_s
2025-08-14 08:03:17 +02:00
parent bfd565aabd
commit ab596ded48
5 changed files with 58 additions and 43 deletions
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39
src/detectorTowerController.cpp
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@@ -418,15 +418,14 @@ asynStatus detectorTowerController::pollDetectorAxes(
// Check if the tower is moving
if (notInPosition == 1 || positionState > 2) {
// By now, the controller has actually started the movement
angleAxis->startingDeferredMovement_ = false;
*moving = true;
// Since the tower is now moving, the axis by definition do not wait for
// movement start anymore.
liftAxis->waitingForStart_ = false;
angleAxis->waitingForStart_ = false;
} else {
if (angleAxis->startingDeferredMovement_) {
*moving = true;
} else {
*moving = false;
}
*moving = false;
}
// Calculate the lift position /w consideration of the angle
@@ -809,14 +808,26 @@ asynStatus detectorTowerController::pollDetectorAxes(
setAxisParamChecked(liftAxis, motorEnableRBV, true);
setAxisParamChecked(supportAxis, motorEnableRBV, true);
// Are the axes currently moving?
setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
// If the axis is starting a movement, mark it as moving. Otherwise use the
// moving parameter.
if (angleAxis->waitingForStart_) {
setAxisParamChecked(angleAxis, motorStatusMoving, true);
setAxisParamChecked(angleAxis, motorStatusDone, false);
} else {
setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
}
// Is the axis movement done?
setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
if (liftAxis->waitingForStart_) {
setAxisParamChecked(liftAxis, motorStatusMoving, true);
setAxisParamChecked(liftAxis, motorStatusDone, false);
} else {
setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
}
// Support axis status is solely deduced from system movement state
setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
setAxisParamChecked(supportAxis, motorStatusDone, !(*moving));
// In which direction are the axes currently moving?