lin-epics-modules/motorBase
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Read and set the direction. Read and clear command errors. Only set the limit if moving in that direction (doesn't solve the problem of being unable to absolute-move off a limit--jogging works though).

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kpetersn
2018-03-29 16:28:18 -05:00
parent f1aefccbeb
commit 14bb36e0aa
1 changed files with 32 additions and 21 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+32 -21
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@@ -927,8 +927,11 @@ asynStatus ANF2Axis::setClosedLoop(bool closedLoop)
asynStatus ANF2Axis::poll(bool *moving)
{
int done;
int limit;
int lowLimit;
int highLimit;
int enabled;
int cmdError;
int direction;
double position;
double encPosition;
asynStatus status;
@@ -978,6 +981,21 @@ asynStatus ANF2Axis::poll(bool *moving)
*moving = done ? false:true;
//printf("done is %d\n", done);
// Direction (only set the direction of the controller is moving)
if (!done) {
if (read_val & 0x1) {
direction = 1;
setIntegerParam(pC_->motorStatusDirection_, 1);
}
if ((read_val & 0x2) > 1) {
direction = 0;
setIntegerParam(pC_->motorStatusDirection_, 0);
}
}
// Check for command errors
cmdError = (read_val & 0x1000) ? 1 : 0;
// Check for enable/disable (not actually the torque status) and set accordingly.
// Enable/disable is determined by the configuration and it isn't obvious why one would disable an axis.
enabled = (read_val & 0x4000);
@@ -991,28 +1009,21 @@ asynStatus ANF2Axis::poll(bool *moving)
status = pC_->readReg16(axisNo_, STATUS_2, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
//printf("status 2 is 0x%X\n", read_val);
limit = (read_val & 0x8); // a cw limit has been reached
setIntegerParam(pC_->motorStatusHighLimit_, limit);
//printf("+limit %d\n", limit);
if (limit) { // reset error and set position so we can move off of the limit
// Reset error
setClosedLoop(1);
// Reset position
//printf(" Reset Position\n");
setPosition(position);
}
// Set the high limit only when moving in the positive direction
highLimit = (read_val & 0x8) ? (direction & 1) : 0; // a cw limit has been reached
setIntegerParam(pC_->motorStatusHighLimit_, highLimit);
//printf("+limit %d\n", highLimit);
limit = (read_val & 0x10); // a ccw limit has been reached
setIntegerParam(pC_->motorStatusLowLimit_, limit);
//printf("-limit %d\n", limit);
if (limit) { // reset error and set position so we can move off of the limit
// Reset error
setClosedLoop(1);
// Reset position
setPosition(position);
}
// Set the low limit only when moving in the negative direction
lowLimit = (read_val & 0x10) ? (!direction & 1) : 0; // a ccw limit has been reached
setIntegerParam(pC_->motorStatusLowLimit_, lowLimit);
//printf("-limit %d\n", lowLimit);
// test for home
// Clear command errors so we can attempt to move again
if (cmdError) {
printf("poll: resetting errors\n");
resetErrors();
}
// Should be in init routine? Allows CNEN to be used.
setIntegerParam(pC_->motorStatusGainSupport_, 1);