lin-epics-modules/motorBase
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Also set all the registers when setting the position. Allows a single move to succeed after each setPosition call.

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kpetersn
2018-03-16 16:30:06 -05:00
parent 13ee3d23e4
commit 2c269bb69f
1 changed files with 14 additions and 5 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+14 -5
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@@ -628,20 +628,29 @@ asynStatus ANF2Axis::stop(double acceleration)
asynStatus ANF2Axis::setPosition(double position)
{
asynStatus status;
int set_position, set_bit;
int set_bit;
epicsInt32 set_position;
//static const char *functionName = "ANF2Axis::setPosition";
//status = writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
//distance = position * SOM_OTHER_SCALE_FACTOR;
set_position = NINT(position);
status = pC_->writeReg32(axisNo_, POS_WR_UPR, set_position, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, set_position, DEFAULT_CONTROLLER_TIMEOUT);
set_bit = 0x200;
status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
set_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
registers_[0] = 0x200 << 16;
registers_[1] = set_position;
registers_[2] = 0x0;
registers_[3] = 0x0;
registers_[4] = 0x0;
// Write all the registers atomically
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, registers_, 10, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}