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Implemented MoveMode, i.e. ability to do profileMove in absolute or relative mode

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MarkRivers
2014-05-22 22:15:03 +00:00
parent 3b668b799b
commit 3702174950
1 changed files with 29 additions and 10 deletions
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motorApp/NewportSrc/XPSController.cpp
+29 -10
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@@ -796,6 +796,7 @@ asynStatus XPSController::runProfile()
double position;
double time;
int i;
int moveMode;
char message[MAX_MESSAGE_LEN];
char buffer[MAX_GATHERING_STRING];
char fileName[MAX_FILENAME_LEN];
@@ -825,14 +826,24 @@ asynStatus XPSController::runProfile()
unlock();
// Move the motors to the start position
// This depends on whether we are in absolute or relative mode
getIntegerParam(profileMoveMode_, &moveMode);
for (j=0; j<numAxes_; j++) {
if (!useAxis[j] || !inGroup[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[0] - pAxis->profilePreDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
if (moveMode == PROFILE_MOVE_MODE_ABSOLUTE) {
position = pAxis->profilePositions_[0] - pAxis->profilePreDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
} else {
position = -pAxis->profilePreDistance_;
status = GroupMoveRelative(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
}
}
// Wait for the motors to get there
@@ -1022,11 +1033,19 @@ asynStatus XPSController::runProfile()
for (j=0; j<numAxes_; j++) {
if (!useAxis[j] ||!inGroup[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[numPoints-1] + pAxis->profilePostDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
if (moveMode == PROFILE_MOVE_MODE_ABSOLUTE) {
position = pAxis->profilePositions_[numPoints-1];
status = GroupMoveAbsolute(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
} else {
position = -pAxis->profilePostDistance_;
status = GroupMoveRelative(pAxis->moveSocket_,
pAxis->positionerName_,
1,
&position);
}
}
// Wait for the motors to get there