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Remove global variables for setPosSleepTime and doSetPosition; now variables in XPSController class, can be set by iocsh calls; added XPS-specific profile parameters

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MarkRivers
2011-04-05 02:02:45 +00:00
parent 4b77011a80
commit 648602f197
1 changed files with 23 additions and 4 deletions
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motorApp/NewportSrc/XPSController.h
+23 -4
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@@ -11,11 +11,17 @@ USAGE... Newport XPS EPICS asyn motor device driver
#include "XPSAxis.h"
#define XPS_MAX_AXES 8
#define TCP_TIMEOUT 2.0
// drvInfo strings for extra parameters that the XPS controller supports
#define XPSMinJerkString "XPS_MIN_JERK"
#define XPSMaxJerkString "XPS_MAX_JERK"
#define XPSStatusString "XPS_STATUS"
#define XPSMinJerkString "XPS_MIN_JERK"
#define XPSMaxJerkString "XPS_MAX_JERK"
#define XPSProfileMaxVelocityString "XPS_PROFILE_MAX_VELOCITY"
#define XPSProfileMaxAccelerationString "XPS_PROFILE_MAX_ACCELERATION"
#define XPSProfileMinPositionString "XPS_PROFILE_MIN_POSITION"
#define XPSProfileMaxPositionString "XPS_PROFILE_MAX_POSITION"
#define XPSTrajectoryFileString "XPS_TRAJECTORY_FILE"
#define XPSStatusString "XPS_STATUS"
class XPSController : public asynMotorController {
@@ -39,17 +45,30 @@ class XPSController : public asynMotorController {
/* Deferred moves functions.*/
asynStatus processDeferredMoves();
asynStatus processDeferredMovesInGroup(char * groupName);
asynStatus enableSetPosition(int enable);
asynStatus setPositionSettlingTime(double sleepTime);
protected:
XPSAxis **pAxes_; /**< Array of pointers to axis objects */
int XPSMinJerk_;
#define FIRST_XPS_PARAM XPSMinJerk_
int XPSMinJerk_;
int XPSMaxJerk_;
int XPSProfileMaxVelocity_;
int XPSProfileMaxAcceleration_;
int XPSProfileMinPosition_;
int XPSProfileMaxPosition_;
int XPSTrajectoryFile_;
int XPSStatus_;
#define LAST_XPS_PARAM XPSStatus_
private:
int enableSetPosition_; /**< This is controlled via the XPSEnableSetPosition function (available via the IOC shell). */
/** Parameter to control the sleep time used when setting position.
* A function called XPSSetPositionSettlingTime(XPS, int) (millisec parameter)
* is available in the IOC shell to control this. */
double setPositionSettlingTime_;
char *IPAddress_;
int IPPort_;
char *ftpUsername_;