lin-epics-modules/motorBase
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Add private pC_ variable; eliminate getController() method, just use pC_

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This commit is contained in:
MarkRivers
2011-03-30 15:33:28 +00:00
parent bac24be529
commit 0c634377a1
2 changed files with 53 additions and 65 deletions
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motorApp/ACRSrc/ACRMotorDriver.cpp
+52 -62
View File
@@ -325,7 +325,8 @@ asynStatus ACRController::writeReadController(const char *output, char *input, s
}
ACRAxis::ACRAxis(ACRController *pController, int axisNo)
: asynMotorAxis(pController, axisNo)
: asynMotorAxis(pController, axisNo),
pC_(pController)
{
sprintf(axisName_, "AXIS%d", axisNo);
encoderPositionReg_ = 12290 + 256*axisNo;
@@ -336,43 +337,40 @@ ACRAxis::ACRAxis(ACRController *pController, int axisNo)
asynStatus ACRAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
ACRController *pC = getController();
asynStatus status;
// static const char *functionName = "moveAxis";
sprintf(pC->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_);
status = pC_->writeController();
// Note, the CtlY being send below clears the kill for all axes, in case they had hit a limit, etc.
if (relative) {
sprintf(pC->outString_, "%c:%s JOG INC %f", CtlY, axisName_, position/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC_->outString_, "%c:%s JOG INC %f", CtlY, axisName_, position/pulsesPerUnit_);
status = pC_->writeController();
} else {
sprintf(pC->outString_, "%c:%s JOG ABS %f", CtlY, axisName_, position/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC_->outString_, "%c:%s JOG ABS %f", CtlY, axisName_, position/pulsesPerUnit_);
status = pC_->writeController();
}
return status;
}
asynStatus ACRAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
ACRController *pC = getController();
asynStatus status;
// static const char *functionName = "homeAxis";
sprintf(pC->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%c:%s JOG HOME %d", CtlY, axisName_, forwards ? 1 : -1);
status = pC->writeController();
sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%c:%s JOG HOME %d", CtlY, axisName_, forwards ? 1 : -1);
status = pC_->writeController();
return status;
}
asynStatus ACRAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
ACRController *pC = getController();
asynStatus status;
double speed=maxVelocity;
int forwards=1;
@@ -382,23 +380,22 @@ asynStatus ACRAxis::moveVelocity(double minVelocity, double maxVelocity, double
speed = -speed;
forwards = 0;
}
sprintf(pC->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%s JOG VEL %f", axisName_, speed/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%c:%s JOG %s", CtlY, axisName_, forwards ? "FWD" : "REV");
status = pC->writeController();
sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, speed/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%c:%s JOG %s", CtlY, axisName_, forwards ? "FWD" : "REV");
status = pC_->writeController();
return status;
}
asynStatus ACRAxis::stop(double acceleration )
{
ACRController *pC = getController();
asynStatus status;
static const char *functionName = "stopAxis";
sprintf(pC->outString_, "%s JOG OFF", axisName_);
status = pC->writeController();
sprintf(pC_->outString_, "%s JOG OFF", axisName_);
status = pC_->writeController();
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to stop, status=%d\n",
@@ -408,74 +405,67 @@ asynStatus ACRAxis::stop(double acceleration )
asynStatus ACRAxis::setPosition(double position)
{
ACRController *pC = getController();
asynStatus status;
sprintf(pC->outString_, "%s RES %f", axisName_, position/pulsesPerUnit_);
status = pC->writeController();
sprintf(pC->outString_, "%s JOG REN", axisName_);
status = pC->writeController();
sprintf(pC_->outString_, "%s RES %f", axisName_, position/pulsesPerUnit_);
status = pC_->writeController();
sprintf(pC_->outString_, "%s JOG REN", axisName_);
status = pC_->writeController();
return status;
}
ACRController* ACRAxis::getController()
{
return static_cast<ACRController*>(asynMotorAxis::getController());
}
asynStatus ACRAxis::poll(int *moving)
{
ACRController *pC = getController();
int done;
int driveOn;
int limit;
asynStatus comStatus;
// Read the current encoder position
sprintf(pC->outString_, "?P%d", encoderPositionReg_);
comStatus = pC->writeReadController();
sprintf(pC_->outString_, "?P%d", encoderPositionReg_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
encoderPosition_ = atof(pC->inString_);
setDoubleParam(pC->motorEncoderPosition_,encoderPosition_);
encoderPosition_ = atof(pC_->inString_);
setDoubleParam(pC_->motorEncoderPosition_,encoderPosition_);
// Read the current theoretical position
sprintf(pC->outString_, "?P%d", theoryPositionReg_);
comStatus = pC->writeReadController();
sprintf(pC_->outString_, "?P%d", theoryPositionReg_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
theoryPosition_ = atof(pC->inString_);
setDoubleParam(pC->motorPosition_, theoryPosition_);
theoryPosition_ = atof(pC_->inString_);
setDoubleParam(pC_->motorPosition_, theoryPosition_);
// Read the current flags
sprintf(pC->outString_, "?P%d", flagsReg_);
comStatus = pC->writeReadController();
sprintf(pC_->outString_, "?P%d", flagsReg_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
currentFlags_ = atoi(pC->inString_);
currentFlags_ = atoi(pC_->inString_);
done = (currentFlags_ & 0x1000000)?0:1;
setIntegerParam(pC->motorStatusDone_, done);
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? 0:1;
// Read the current limit status
sprintf(pC->outString_, "?P%d", limitsReg_);
comStatus = pC->writeReadController();
sprintf(pC_->outString_, "?P%d", limitsReg_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
currentLimits_ = atoi(pC->inString_);
currentLimits_ = atoi(pC_->inString_);
limit = (currentLimits_ & 0x1)?1:0;
setIntegerParam(pC->motorStatusHighLimit_, limit);
setIntegerParam(pC_->motorStatusHighLimit_, limit);
limit = (currentLimits_ & 0x2)?1:0;
setIntegerParam(pC->motorStatusLowLimit_, limit);
setIntegerParam(pC_->motorStatusLowLimit_, limit);
limit = (currentLimits_ & 0x4)?1:0;
setIntegerParam(pC->motorStatusAtHome_, limit);
setIntegerParam(pC_->motorStatusAtHome_, limit);
// Read the drive power on status
sprintf(pC->outString_, "DRIVE %s", axisName_);
comStatus = pC->writeReadController();
sprintf(pC_->outString_, "DRIVE %s", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
driveOn = strstr(pC->inString_, "ON") ? 1:0;
setIntegerParam(pC->motorStatusPowerOn_, driveOn);
setIntegerParam(pC->motorStatusProblem_, 0);
driveOn = strstr(pC_->inString_, "ON") ? 1:0;
setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0);
skip:
setIntegerParam(pC->motorStatusProblem_, comStatus ? 1:0);
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
motorApp/ACRSrc/ACRMotorDriver.h
+1 -3
View File
@@ -30,10 +30,8 @@ public:
asynStatus poll(int *moving);
asynStatus setPosition(double position);
// These are the methods that are new to this class
class ACRController* getController();
private:
ACRController *pC_;
char axisName_[10];
double pulsesPerUnit_;
int flagsReg_;