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- Eliminated SET_ENC_RATIO command.

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- Put oms_build_trans() back like it was in -r 1.5
This commit is contained in:
Ron Sluiter
2002-04-01 22:37:19 +00:00
parent 885639a532
commit 6fcab82a19
1 changed files with 7 additions and 25 deletions
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motorApp/OmsSrc/devOmsCom.c
+7 -25
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.c
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.6 $
Version: $Revision: 1.7 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-03-27 21:33:09 $
Last Modified: $Date: 2002-04-01 22:37:19 $
*/
/*
@@ -46,6 +46,7 @@ Last Modified: $Date: 2002-03-27 21:33:09 $
* see done flag from previous operation.
* .06 03-27-02 rls - Eliminated RES. All input positions, velocities and
* accelerations are in motor steps.
* - Eliminated SET_ENC_RATIO.
*/
#include <vxWorks.h>
@@ -80,8 +81,7 @@ struct motor_table const oms_table[] =
{IMMEDIATE, " VL", 1}, /* SET_VELO */
{IMMEDIATE, " AC", 1}, /* SET_ACCEL */
{IMMEDIATE, " GD", 0}, /* jps: from GO to GD */
{IMMEDIATE, " ER", 2}, /* SET_ENC_RATIO */
{INFO, " ", 0}, /* GET_INFO */
{INFO, " ", 0}, /* GET_INFO */
{MOVE_TERM, " ST", 0}, /* STOP_AXIS */
{VELOCITY, " CA JG", 1}, /* JOG */
{IMMEDIATE," KP", 1}, /* SET_PGAIN */
@@ -172,18 +172,10 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
char buffer[40];
unsigned char cmnd_type;
long rtnind;
double absres, steptoencoder;
rtnind = OK;
motor_call = &trans->motor_call;
if ((mr->msta & EA_PRESENT) && mr->ueip == YES)
absres = mr->eres;
else
absres = mr->mres;
absres = fabs(absres);
steptoencoder = fabs(mr->mres) / absres; /* This is equal to either 1.0 or MRES/ERES. */
cmnd_type = oms_table[command].type;
if (cmnd_type > motor_call->type)
motor_call->type = cmnd_type;
@@ -253,9 +245,7 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
}
else if (command == STOP_AXIS)
{
double acc;
acc = mr->velo / absres / mr->accl;
double acc = (mr->velo / fabs(mr->mres)) / mr->accl;
/* Put in acceleration. */
strcat(motor_call->message, oms_table[SET_ACCEL].command);
@@ -308,8 +298,8 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
long vbase, vel;
vbase = NINT(mr->vbas / absres);
vel = NINT(parms[itera] * steptoencoder);
vbase = NINT(mr->vbas / fabs(mr->mres));
vel = NINT(parms[itera]);
if (vel <= vbase)
vel = vbase + 1;
@@ -317,14 +307,6 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
}
break;
case MOVE_ABS:
case MOVE_REL:
case SET_VEL_BASE:
case SET_ACCEL:
case JOG:
sprintf(buffer, "%ld", NINT(parms[itera] * steptoencoder));
break;
default:
sprintf(buffer, "%ld", NINT(parms[itera]));
}