lin-epics-modules/motorBase
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changing update rate changes motor positions. read them before and restore them after.

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timmmooney
2011-02-28 17:22:56 +00:00
parent 84e851d76a
commit 7f090849d5
1 changed files with 30 additions and 2 deletions
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motorApp/OmsSrc/MAX_trajectoryScan.st
+30 -2
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@@ -356,13 +356,41 @@ ss maxTrajectoryScan {
/* Get update rate */
sprintf(stringOut, "AX; #UR?;");
%%if (pVar->simMode==0) writeRead(ssId, pVar, pVar->stringOut, pVar->stringOut);
if (debugLevel > 0) printf("Update rate (X)='%s'\n", stringOut);
if (debugLevel > 0) printf("Update rate ='%s'\n", stringOut);
%%epicsTimeGetCurrent(&eStartTime); /* not actually the start time, getMotorPositions just needs a value */
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
if (debugLevel >= 1) {
printf("\nbefore '#UR': motor=\n");
for (j=0; j<MAX_AXES; j++) {
%%printf("%7d%c", pVar->motorCurrentRaw[pVar->j], (pVar->j<MAX_AXES-1?',':'\n'));
}
}
/* Set update rate. */
i = 1024 * updateFreq;
sprintf(stringOut, "AX; #UR%d;", i);
%%if (pVar->simMode==0) writeOnly(ssId, pVar, pVar->stringOut);
/* reload motor positions to what they were before the #UR command */
/* Note that LP sets both motor and encoder positions to the same value */
n = sprintf(stringOut, "AM; LP");
for (j=0; j<MAX_AXES; j++) {
n += sprintf(&(stringOut[n]), "%d", motorCurrentRaw[j]);
if (j<(MAX_AXES-1)) n += sprintf(&(stringOut[n]), ",");
}
strcat(stringOut, ";");
%%if (pVar->simMode==0) writeOnly(ssId, pVar, pVar->stringOut);
%%epicsTimeGetCurrent(&eStartTime); /* not actually the start time, getMotorPositions just needs a value */
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
if (debugLevel >= 1) {
printf("\nafter '#UR;': motor=\n");
for (j=0; j<MAX_AXES; j++) {
%%printf("%7d%c", pVar->motorCurrentRaw[pVar->j], (pVar->j<MAX_AXES-1?',':'\n'));
}
}
for (j=0, firstTask=1; j<MAX_AXES; j++) {
if (moveAxis[j]) {
if (epicsMotorDir[j] == 0) dir=1; else dir=-1;
@@ -1120,7 +1148,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
if (pVar->debugLevel >= 10) printf("v_lin=%f, v_spline=%f\n", v_lin, v_spline);
/* the acceleration that will get us to the ideal velocity */
if (0) {
if (pVar->startPulses != 0) {
v_ideal = v_spline;
} else {
v_ideal = v_lin;