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Fixed bugs in profile moves

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This commit is contained in:
MarkRivers
2011-09-16 20:43:45 +00:00
parent 5fb11a1e4b
commit 20b0f295bc
1 changed files with 17 additions and 9 deletions
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motorApp/NewportSrc/XPSController.cpp
+17 -9
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@@ -904,7 +904,7 @@ asynStatus XPSController::runProfile()
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[numPoints-1] - pAxis->profilePreDistance_;
position = pAxis->profilePositions_[0] - pAxis->profilePreDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
@@ -969,20 +969,26 @@ asynStatus XPSController::runProfile()
// Compute the time between pulses as the total time over which pulses should be output divided
// by the number of pulses to be output. */
time = 0;
for (i=startPulses; i<=endPulses; i++) {
for (i=startPulses; i<endPulses; i++) {
time += profileTimes_[i-1];
}
// We put out pulses starting at the beginning of element startPulses and ending at the beginning of element
// endPulses. To get exactly numPulses pulses we need to subtract 1 from numPulses when determining the
// pulsePeriod
if (numPulses != 0)
pulsePeriod = time / numPulses;
pulsePeriod = time / (numPulses-1);
else
pulsePeriod = 0;
printf("XPSController::buildProfile, startPulses=%d, endPulses=%d, time=%f, pulsePeriod=%f\n",
startPulses, endPulses, time, pulsePeriod);
/* Define trajectory output pulses.
* startPulses and endPulses are defined as 1=first real element, need to add
* 1 to each to skip the acceleration element.
* The XPS is told the element to stop outputting pulses, and it seems to stop
* outputting at the start of that element. So we need to have that element be
* the decceleration endPulses is the element, which means adding another +1. */
* outputting at the end of that element. So we need to have that element be
* the decceleration element, which means adding another +1, or we come up 1 pulse short.
* But this means we will almost always get too many pulses */
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: calling MultipleAxesPVTPulseOutputSet(%d, %s, %d, %d, %f)\n",
driverName, functionName, pollSocket_, groupName,
@@ -1001,8 +1007,8 @@ asynStatus XPSController::runProfile()
"", "", "", "");
if (status != 0) {
executeOK = false;
sprintf(message, "Error performing EventExtendedConfigurationTriggerSet, status=%d, buffer=%s",
status, buffer);
sprintf(message, "Error performing EventExtendedConfigurationTriggerSet, status=%d, buffer=%s, strlen(buffer)=%d",
status, buffer, strlen(buffer));
goto done;
}
@@ -1177,7 +1183,7 @@ asynStatus XPSController::readbackProfile()
int nitems;
int numRead=0, numInBuffer, numChars;
int useAxis[XPS_MAX_AXES];
static const char *functionName = "buildProfile";
static const char *functionName = "readbackProfile";
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: entry\n",
@@ -1210,10 +1216,12 @@ asynStatus XPSController::readbackProfile()
sprintf(message, "Error calling GatherCurrentNumberGet, status=%d", status);
goto done;
}
if (currentSamples != numPulses) {
if (currentSamples < numPulses) {
readbackOK = false;
sprintf(message, "Error, numPulses=%d, currentSamples=%d", numPulses, currentSamples);
//goto done;
} else {
currentSamples = numPulses; // Only read as many as were asked for
}
buffer = (char *)calloc(GATHERING_MAX_READ_LEN, sizeof(char));
numInBuffer = 0;