lin-epics-modules/mastermacs
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Set move flag correctly in velocity / jog mode

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This commit is contained in:
mathis_s
2026-02-10 09:00:58 +01:00
parent 56d9d20c3a
commit b01f398533
2 changed files with 40 additions and 27 deletions
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61
src/masterMacsAxis.cpp
View File

@@ -272,7 +272,7 @@ asynStatus masterMacsAxis::init() {
__PRETTY_FUNCTION__, __LINE__);
}
status = setVeloFields(motVelocity, 0.0, motVmax);
status = setVeloFields(abs(motVelocity), 0.0, motVmax);
if (status != asynSuccess) {
return status;
}
@@ -535,26 +535,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
return rwStatus;
}
// If we wait for a handshake, but the motor was moving in its last poll
// cycle and has reached its target, it is not moving. Otherwise it is
// considered moving, even if we're still waiting for the handshake.
if (pMasterMacsA_->targetReachedUninitialized) {
*moving = false;
} else {
if (targetReached() || !switchedOn()) {
*moving = false;
} else {
*moving = true;
}
}
if (targetReached()) {
pMasterMacsA_->targetReachedUninitialized = false;
}
// If moving in velocity mode, read out the current speed. Otherwise, read
// out the current position
if (pMasterMacsA_->lastMoveCommand == velocityMode && *moving) {
if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
rwStatus = pC_->read(axisNo_, 14, response);
if (rwStatus != asynSuccess) {
return rwStatus;
@@ -565,7 +549,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
__PRETTY_FUNCTION__, __LINE__);
}
// Write the actual velocity to the paramLib
setAxisParamChecked(this, motorVelocity, actualVelocity);
// Motor is moving in velocity mode
*moving = true;
} else {
rwStatus = pC_->read(axisNo_, 12, response);
if (rwStatus != asynSuccess) {
return rwStatus;
@@ -575,6 +566,28 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
return pC_->couldNotParseResponse("R12", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = setMotorPosition(currentPosition);
if (plStatus != asynSuccess) {
return plStatus;
}
// If we wait for a handshake, but the motor was moving in its last poll
// cycle and has reached its target, it is not moving. Otherwise it is
// considered moving, even if we're still waiting for the handshake.
if (pMasterMacsA_->targetReachedUninitialized) {
*moving = false;
} else {
if (targetReached() || !switchedOn()) {
*moving = false;
} else {
*moving = true;
}
}
if (targetReached()) {
pMasterMacsA_->targetReachedUninitialized = false;
}
}
/*
@@ -789,14 +802,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
setAxisParamChecked(this, motorStatusDone, !(*moving));
setAxisParamChecked(this, motorStatusDirection, direction);
plStatus = setMotorPosition(currentPosition);
if (plStatus != asynSuccess) {
return plStatus;
}
// Write the actual velocity to the paramLib
setAxisParamChecked(this, motorVelocity, actualVelocity);
return poll_status;
}
@@ -1352,6 +1357,8 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
bool masterMacsAxis::internalLimitActive() {
return pMasterMacsA_->axisStatus[11];
}

6
src/masterMacsAxis.h
View File

@@ -250,6 +250,12 @@ class HIDDEN masterMacsAxis : public sinqAxis {
*/
bool internalLimitActive();
/**
* @brief Read the property from axisStatus (see masterMacsAxisImpl
* redefinition in masterMacsAxis.cpp)
*/
bool speedEqualZero();
// Bits 12 and 13 are unused
/**