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motor: changed XPS driver to read back theoretical position as well as actual position. Now the default motorAxisPosition is the theory pos

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ition. This brings it into line with the PMAC driver.
This commit is contained in:
mp49
2011-05-20 16:00:30 +00:00
parent 5f421e9a03
commit 5eb4b18d5c
1 changed files with 8 additions and 1 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+8 -1
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@@ -1178,6 +1178,7 @@ static void XPSPoller(XPSController *pController)
int anyMoving;
int forcedFastPolls=0;
double actualVelocity, theoryVelocity, acceleration;
double theoryPosition=0;
timeout = pController->idlePollPeriod;
epicsEventSignal(pController->pollEventId); /* Force on poll at startup */
@@ -1296,16 +1297,22 @@ static void XPSPoller(XPSController *pController)
}
status = GroupPositionSetpointGet(pAxis->pollSocket,
pAxis->positionerName,
1,
&theoryPosition);
status = GroupPositionCurrentGet(pAxis->pollSocket,
pAxis->positionerName,
1,
&pAxis->currentPosition);
if (status != 0) {
PRINT(pAxis->logParam, MOTOR_ERROR, "XPSPoller: error calling GroupPositionCurrentGet[%d,%d], status=%d\n", pAxis->card, pAxis->axis, status);
motorParam->setInteger(pAxis->params, motorAxisCommError, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
motorParam->setDouble(pAxis->params, motorAxisPosition, (pAxis->currentPosition/pAxis->stepSize));
motorParam->setDouble(pAxis->params, motorAxisPosition, (theoryPosition/pAxis->stepSize));
motorParam->setDouble(pAxis->params, motorAxisEncoderPosn, (pAxis->currentPosition/pAxis->stepSize));
}