If the byte 15 is encountered in the message, the parseResponse function
must return asynDisconnected (instead of asynSuccess) so the state of
the axis is accounted for properly.
Integrated a readout function for the position deadband. Also read from
the controller if the axis has dynamic limits and only poll the limits
repeatedly if that is the case. Lastly, added support for the velocity
mode (untested!).
The expected version can now be set in the Makefile via USR_CXXFLAGS.
Additionally, the README.md has received documentation regarding the
version check. Lastly, the version check can now be disabled by omitting
the flags or setting one of them to a negative value.
A "normal" error reset should not trigger a node reset. However, this
option is still available via a dedicated PV xx:NodeReset and a
corresponding function in masterMacsAxis.
When a MasterMacs motor is powered for the first time, it does not have
a target set. Therefore, the targetReached bit is 0, which the driver
used to interpret as "moving". This is solved now by an additional flag
which checks if the motor did a handshake.
Additionally, the communication module was simplified and new utility
scripts were added. It is now made sure that the communication timeout
for enabling and sending move commands is now at least equal to
PowerCycleTimeout defined in src/masterMacsAxis.cpp.
Added a custom timeout for the enable command, as it takes quite a bit
of time for the motor controller to answer and we don't want to show a
premature communication timeout error. Also changed the code in order to
use the motorPosition() and setMotorPosition() methods instead of
directly accessing the paramLib.
mathis_s