lin-epics-modules/motorBase
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Previously we reported encoder position for both motor and encoder position; added call to GroupPositionSetpointGet so we now report both the theoretical and actual motor positions

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This commit is contained in:
MarkRivers
2011-03-31 22:59:19 +00:00
parent fa93fce3d3
commit 51e5cf5545
2 changed files with 19 additions and 6 deletions
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motorApp/NewportSrc/XPSMotorDriver.cpp
+17 -5
View File
@@ -236,10 +236,10 @@ asynStatus XPSController::processDeferredMovesInGroup(char *groupName)
/* Build position buffer.*/
if (pAxis->deferredMove_) {
positions[positions_index] =
pAxis->deferredRelative_ ? (pAxis->currentPosition_ + pAxis->deferredPosition_) : pAxis->deferredPosition_;
pAxis->deferredRelative_ ? (pAxis->setpointPosition_ + pAxis->deferredPosition_) : pAxis->deferredPosition_;
} else {
positions[positions_index] =
pAxis->deferredRelative_ ? 0 : pAxis->currentPosition_;
pAxis->deferredRelative_ ? 0 : pAxis->setpointPosition_;
}
/* Reset deferred flag. */
@@ -916,6 +916,7 @@ asynStatus XPSAxis::poll(int *moving)
/* Set the axis done parameter */
/* AND the done flag with the inverse of deferred_move.*/
axisDone &= !deferredMove_;
*moving = axisDone ? 0 : 1;
setIntegerParam(pC_->motorStatusDone_, axisDone);
setIntegerParam(pC_->motorStatusHome_, (axisStatus_ == 11) ? 1 : 0);
if ((axisStatus_ >= 0 && axisStatus_ <= 9) ||
@@ -944,15 +945,26 @@ asynStatus XPSAxis::poll(int *moving)
status = GroupPositionCurrentGet(pollSocket_,
positionerName_,
1,
&currentPosition_);
&encoderPosition_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupPositionCurrentGet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
goto done;
}
setDoubleParam(pC_->motorPosition_, (currentPosition_/stepSize_));
setDoubleParam(pC_->motorEncoderPosition_, (currentPosition_/stepSize_));
setDoubleParam(pC_->motorEncoderPosition_, (encoderPosition_/stepSize_));
status = GroupPositionSetpointGet(pollSocket_,
positionerName_,
1,
&setpointPosition_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling GroupPositionSetpointGet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
goto done;
}
setDoubleParam(pC_->motorPosition_, (setpointPosition_/stepSize_));
status = PositionerErrorGet(pollSocket_,
positionerName_,
motorApp/NewportSrc/XPSMotorDriver.h
+2 -1
View File
@@ -61,7 +61,8 @@ private:
int pollSocket_;
int moveSocket_;
double currentPosition_;
double setpointPosition_;
double encoderPosition_;
double currentVelocity_;
double velocity_;
double accel_;