lin-epics-modules/motorBase
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Added support for motorAxisResolution; added newlines to log formats

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This commit is contained in:
MarkRivers
2006-04-08 20:09:06 +00:00
parent 8a12545605
commit 6b02892bbc
1 changed files with 18 additions and 16 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+18 -16
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@@ -228,12 +228,18 @@ static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double
{
case motorAxisPosition:
{
PRINT( pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting position");
PRINT( pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting position\n");
break;
}
case motorAxisEncoderRatio:
{
PRINT( pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting encoder ratio");
PRINT( pAxis->logParam, ERROR, "motorAxisSetDouble: XPS does not support setting encoder ratio\n");
break;
}
case motorAxisResolution:
{
pAxis->stepSize = value;
PRINT( pAxis->logParam, FLOW, "Set card %d, axis %d stepSize to %f\n", pAxis->card, pAxis->axis, value );
break;
}
case motorAxisLowLimit:
@@ -247,7 +253,7 @@ static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double
"for low limit=%f, status=%d\n", deviceValue, status);
} else {
pAxis->lowLimit = deviceValue;
PRINT( pAxis->logParam, FLOW, "Set card %d, axis %d low limit to %f", pAxis->card, pAxis->axis, deviceValue );
PRINT( pAxis->logParam, FLOW, "Set card %d, axis %d low limit to %f\n", pAxis->card, pAxis->axis, deviceValue );
ret_status = MOTOR_AXIS_OK;
}
break;
@@ -263,29 +269,29 @@ static int motorAxisSetDouble( AXIS_HDL pAxis, motorAxisParam_t function, double
"for high limit=%f, status=%d\n", deviceValue, status);
} else {
pAxis->highLimit = deviceValue;
PRINT( pAxis->logParam, FLOW, "Set card %d, axis %d high limit to %f", pAxis->card, pAxis->axis, deviceValue );
PRINT( pAxis->logParam, FLOW, "Set card %d, axis %d high limit to %f\n", pAxis->card, pAxis->axis, deviceValue );
ret_status = MOTOR_AXIS_OK;
}
break;
}
case motorAxisPGain:
{
PRINT( pAxis->logParam, ERROR, "XPS does not support setting proportional gain");
PRINT( pAxis->logParam, ERROR, "XPS does not support setting proportional gain\n");
break;
}
case motorAxisIGain:
{
PRINT( pAxis->logParam, ERROR, "XPS does not support setting integral gain");
PRINT( pAxis->logParam, ERROR, "XPS does not support setting integral gain\n");
break;
}
case motorAxisDGain:
{
PRINT( pAxis->logParam, ERROR, "XPS does not support setting derivative gain");
PRINT( pAxis->logParam, ERROR, "XPS does not support setting derivative gain\n");
break;
}
case motorAxisClosedLoop:
{
PRINT( pAxis->logParam, ERROR, "XPS does not support changing closed loop or torque");
PRINT( pAxis->logParam, ERROR, "XPS does not support changing closed loop or torque\n");
break;
}
default:
@@ -393,7 +399,7 @@ static int motorAxisMove( AXIS_HDL pAxis, double position, int relative,
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f",
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
pAxis->card, pAxis->axis, position, min_velocity, max_velocity, acceleration);
return MOTOR_AXIS_OK;
}
@@ -464,7 +470,7 @@ static int motorAxisVelocityMove( AXIS_HDL pAxis, double min_velocity, double v
}
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
PRINT(pAxis->logParam, FLOW, "motorAxisVelocityMove card %d, axis %d move velocity=%f, accel=%f",
PRINT(pAxis->logParam, FLOW, "motorAxisVelocityMove card %d, axis %d move velocity=%f, accel=%f\n",
pAxis->card, pAxis->axis, velocity, acceleration);
return status;
}
@@ -490,7 +496,6 @@ static int motorAxisStop( AXIS_HDL pAxis, double acceleration )
/* We need to read the status, because a jog is stopped differently from a move */
status = GroupStatusGet(pAxis->pollSocket, pAxis->groupName, &pAxis->axisStatus);
printf("motorAxisStop, axisStatus=%d\n", pAxis->axisStatus);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupStatusGet status=%d%\n",\
status);
@@ -499,7 +504,6 @@ printf("motorAxisStop, axisStatus=%d\n", pAxis->axisStatus);
if (pAxis->axisStatus == 47) {
deviceAcceleration = acceleration * pAxis->stepSize;
status = GroupJogParametersSet(pAxis->moveSocket, pAxis->positionerName, 1, &deviceVelocity, &deviceAcceleration);
printf("Set jog velocity to %f, acceleration to %f\n", deviceVelocity, deviceAcceleration);
if (status != 0) {
PRINT(pAxis->logParam, ERROR, " Error performing GroupJogParametersSet status=%d\n",\
status);
@@ -516,7 +520,7 @@ printf("Set jog velocity to %f, acceleration to %f\n", deviceVelocity, deviceAcc
}
}
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d to stop with accel=%f",
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d to stop with accel=%f\n",
pAxis->card, pAxis->axis, acceleration );
return MOTOR_AXIS_OK;
}
@@ -760,8 +764,7 @@ int XPSConfig(int card, /* Controller number */
int XPSConfigAxis(int card, /* specify which controller 0-up*/
int axis, /* axis number 0-7 */
const char *positionerName, /* groupName.positionerName e.g. Diffractometer.Phi */
int stepsPerUnit ) /* steps per user unit */
const char *positionerName) /* groupName.positionerName e.g. Diffractometer.Phi */
{
XPSController *pController;
AXIS_HDL pAxis;
@@ -792,7 +795,6 @@ int XPSConfigAxis(int card, /* specify which controller 0-up*/
index = strchr(pAxis->groupName, '.');
if (index != NULL) *index = '\0'; /* Terminate group name at place of '.' */
pAxis->stepSize = 1./stepsPerUnit;
/* Read some information from the controller for this axis */
status = PositionerSGammaParametersGet(pAxis->pollSocket,
pAxis->positionerName,