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Implemented readbackProfile

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MarkRivers
2011-04-04 21:54:03 +00:00
parent b814f62ae9
commit 5df164ae3c
1 changed files with 28 additions and 2 deletions
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motorApp/MotorSrc/asynMotorAxis.cpp
+28 -2
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@@ -234,10 +234,36 @@ asynStatus asynMotorAxis::executeProfile()
return asynSuccess;
}
/** Function to readback the actual motor positions from a coordinated move of multiple axes. */
/** Function to readback the actual motor positions from a coordinated move of multiple axes.
* This base class function converts the readbacks and following errors from controller units
* to user units and does callbacks on the arrays.
* Caution: this function modifies the readbacks in place, so it must only be called
* once per readback operation.
*/
asynStatus asynMotorAxis::readbackProfile()
{
int i;
double resolution;
double offset;
int direction;
int numReadbacks;
int status=0;
// static const char *functionName = "asynMotorController::readbackProfile";
// Convert readbacks and following errors from controller units to user units and do callbacks
status |= pC_->getDoubleParam(axisNo_, pC_->profileMotorResolution_, &resolution);
status |= pC_->getDoubleParam(axisNo_, pC_->profileMotorOffset_, &offset);
status |= pC_->getIntegerParam(axisNo_, pC_->profileMotorDirection_, &direction);
status |= pC_->getIntegerParam(axisNo_, pC_->profileNumReadbacks_, &numReadbacks);
if (status) return asynError;
if (resolution == 0.0) return asynError;
// Convert to user units
if (direction != 0) resolution = -resolution;
for (i=0; i<numReadbacks; i++) {
profileReadbacks_[i] = profileReadbacks_[i] * resolution + offset;
profileFollowingErrors_[i] = profileFollowingErrors_[i] * resolution;
}
pC_->doCallbacksFloat64Array(profileReadbacks_, numReadbacks, axisNo_, pC_->profileReadbacks_);
pC_->doCallbacksFloat64Array(profileFollowingErrors_, numReadbacks, axisNo_, pC_->profileFollowingErrors_);
return asynSuccess;
}