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- Restored SET_ENC_RATIO command.

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- Seperate +/- limit switch status bits.
This commit is contained in:
Ron Sluiter
2002-07-05 17:10:31 +00:00
parent be88f00535
commit 79c56c4549
1 changed files with 5 additions and 3 deletions
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motorApp/MotorSrc/motor.h
+5 -3
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@@ -3,9 +3,9 @@ FILENAME... motor.h
USAGE... Definitions and structures common to all levels of motorRecord
support (i.e., record, device and driver).
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-04-01 22:47:25 $
Last Modified: $Date: 2002-07-05 17:10:31 $
*/
/*
@@ -68,6 +68,7 @@ enum motor_cmnd {
SET_VELOCITY, /* Set Jog and Trajectory Velocity. */
SET_ACCEL, /* Set Acceleration. */
GO, /* Start previously programmed move. */
SET_ENC_RATIO, /* Set Encoder Ratio. */
GET_INFO, /* Update Motor Status. */
STOP_AXIS, /* Stop Axis Motion. */
JOG, /* Momentary Jog. */
@@ -103,7 +104,7 @@ typedef enum motor_cmnd motor_cmnd;
/* axis and encoder status for return to requester */
#define RA_DIRECTION 0x01 /* (last) 0=Negative, 1=Positive */
#define RA_DONE 0x02 /* a motion is complete */
#define RA_OVERTRAVEL 0x04 /* a limit switch has been hit */
#define RA_PLUS_LS 0x04 /* plus limit switch has been hit */
#define RA_HOME 0x08 /* The home signal is on */
#define EA_SLIP 0x10 /* encoder slip enabled */
#define EA_POSITION 0x20 /* position maintenence enabled */
@@ -115,6 +116,7 @@ typedef enum motor_cmnd motor_cmnd;
#define GAIN_SUPPORT 0x800 /* Motor supports closed-loop position
control. */
#define CNTRL_COMM_ERR 0x1000 /* Controller communication error. */
#define RA_MINUS_LS 0x2000 /* minus limit switch has been hit */
/*
The RA_PROBLEM status bit indicates that the driver has stopped the polling