lin-epics-modules/mastermacs
0
0
Fork 0
Code Issues 1 Pull Requests Actions Packages Projects Releases Wiki Activity

Fixed scaling of the written motorVelocity value
Some checks failed
Test And Build / Lint (push) Failing after 4s
Details
Test And Build / Build (push) Successful in 7s
Details

Browse Source
This commit is contained in:
mathis_s
2026-02-12 12:04:20 +01:00
parent 9a332f7a19
commit b5dcc7bdf1
1 changed files with 4 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/masterMacsAxis.cpp
View File

@@ -510,9 +510,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
setAxisParamChecked(this, motorEncoderPosition, currentPosition); setAxisParamChecked(this, motorEncoderPosition, currentPosition);
if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) { if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
// TODO: Not sure whether the RVEL field of the motor record does not
// work - has to be clarified
double actualVelocity = 0.0; double actualVelocity = 0.0;
rwStatus = pC_->read(axisNo_, 14, response); rwStatus = pC_->read(axisNo_, 14, response);
@@ -525,8 +522,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
__PRETTY_FUNCTION__, __LINE__); __PRETTY_FUNCTION__, __LINE__);
} }
// Write the actual velocity to the paramLib (TODO: does it though?) // Writes the actual speed in steps per second to the paramLib. This
setAxisParamChecked(this, motorVelocity, actualVelocity); // value is then returned by the RVEL field of the motor record.
setAxisParamChecked(this, motorVelocity,
actualVelocity / motorRecResolution);
// Motor is moving in velocity mode // Motor is moving in velocity mode
*moving = true; *moving = true;