lin-epics-modules/motorBase
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Added comments, improved logic

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This commit is contained in:
Mark Rivers
2017-11-22 14:32:29 -06:00
parent b969f5a0ab
commit 1512357f70
1 changed files with 6 additions and 4 deletions
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motorApp/NewportSrc/drvESP300.cc
+6 -4
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@@ -684,13 +684,15 @@ errexit:
recv_mess(card_index, buff, 1);
/* Set axis resolution. */
/* If encoder feedback is being used then use SU command */
/* If not then assume open-loop stepper and use full-step resolution (FR) and microstepping (QS) */
/* Read the feedback status */
sprintf(buff, "%.2dZB?", motor_index + 1);
send_mess(card_index, buff, 0);
recv_mess(card_index, buff, 1);
feedback = strtol(buff,0,16);
if ((feedback & 0x100) == 0) {
/* If stepper closed loop positioning is enabled (bit 9=1) and encoder feedback is disabled (bit 8=0)
* then use the full-step resolution (FR) and microstepping (QS) to determine drive_resolution.
* If not then use SU (encoder resolution) for drive_resolution. */
if ((feedback & 0x300) == 0x200) {
sprintf(buff, "%.2dFR?", motor_index + 1);
send_mess(card_index, buff, 0);
recv_mess(card_index, buff, 1);
@@ -699,7 +701,7 @@ errexit:
send_mess(card_index, buff, 0);
recv_mess(card_index, buff, 1);
microStep = strtol(buff, 0, 10);
cntrl->drive_resolution[motor_index] = fullStep/microStep;
cntrl->drive_resolution[motor_index] = fullStep / microStep;
} else {
sprintf(buff, "%.2dSU?", motor_index + 1);
send_mess(card_index, buff, 0);