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Fix resolution handling for servo and stepper stages

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This commit is contained in:
Kurt Goetze
2013-06-13 20:36:10 +00:00
parent 9d81588677
commit 04aa31f957
1 changed files with 4 additions and 2 deletions
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motorApp/NewportSrc/SMC100Driver.h
+4 -2
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@@ -22,7 +22,7 @@ class SMC100Axis : public asynMotorAxis
{
public:
/* These are the methods we override from the base class */
SMC100Axis(class SMC100Controller *pC, int axis);
SMC100Axis(class SMC100Controller *pC, int axis, double stepSize);
void report(FILE *fp, int level);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -36,13 +36,15 @@ private:
SMC100Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
asynStatus sendAccelAndVelocity(double accel, double velocity);
double stepSize_; /**< Encoder increment value obtained with SU? command _or_ resolution, set at boot time */
/* with SMC100CreateController command */
friend class SMC100Controller;
};
class SMC100Controller : public asynMotorController {
public:
SMC100Controller(const char *portName, const char *SMC100PortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
SMC100Controller(const char *portName, const char *SMC100PortName, int numAxes, double movingPollPeriod, double idlePollPeriod, double stepSize);
void report(FILE *fp, int level);
SMC100Axis* getAxis(asynUser *pasynUser);