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

Draft velocity mode
Some checks failed
Test And Build / Lint (push) Failing after 4s
Details
Test And Build / Build (push) Successful in 7s
Details

Browse Source 
See TODO in src/masterMacsAxis.cpp, line 552. The velocity readback is
the only thing that doesn't work properly, everything else does work.
Once a solution has been found here, this can be a new minor release.
This commit is contained in:
mathis_s
2026-02-10 12:31:01 +01:00
parent 0e1f95a94b
commit eadce0f594
1 changed files with 20 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
src/masterMacsAxis.cpp
View File

@@ -455,7 +455,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
double previousPosition = 0.0;
double motorRecResolution = 0.0;
double handshakePerformed = 0;
double actualVelocity = 0.0;
// =========================================================================
@@ -532,10 +531,28 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
return rwStatus;
}
// If moving in velocity mode, read out the current speed. Otherwise, read
// out the current position
rwStatus = pC_->read(axisNo_, 12, response);
if (rwStatus != asynSuccess) {
return rwStatus;
}
nvals = sscanf(response, "%lf", &currentPosition);
if (nvals != 1) {
return pC_->couldNotParseResponse("R12", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
plStatus = setMotorPosition(currentPosition);
if (plStatus != asynSuccess) {
return plStatus;
}
setAxisParamChecked(this, motorEncoderPosition, currentPosition);
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;
rwStatus = pC_->read(axisNo_, 14, response);
if (rwStatus != asynSuccess) {
return rwStatus;
@@ -554,21 +571,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
} else {
rwStatus = pC_->read(axisNo_, 12, response);
if (rwStatus != asynSuccess) {
return rwStatus;
}
nvals = sscanf(response, "%lf", &currentPosition);
if (nvals != 1) {
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.