lin-epics-modules/motorBase
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Also read the encoder position, which isn't helpful with diagnostic feedback.

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kpetersn
2018-03-27 15:15:05 -05:00
parent 690281fd24
commit 0f52af42b2
1 changed files with 6 additions and 0 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+6
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@@ -823,6 +823,7 @@ asynStatus ANF2Axis::poll(bool *moving)
int limit;
int enabled;
double position;
double encPosition;
asynStatus status;
epicsInt32 read_val; // don't use a pointer here. The _address_ of read_val should be passed to the read function.
@@ -853,6 +854,11 @@ asynStatus ANF2Axis::poll(bool *moving)
//printf("ANF2Axis::poll: Motor #%i position: %f\n", axisNo_, position);
// TODO: read encoder position
status = pC_->readReg32(axisNo_, EN_POS_UPR, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
//printf("ANF2Axis::poll: Motor encoder position raw: %d\n", read_val);
encPosition = (double) read_val;
setDoubleParam(pC_->motorEncoderPosition_, encPosition);
//printf("ANF2Axis::poll: Motor #%i encoder position: %f\n", axisNo_, encPosition);
// Read the moving status of this motor
//