lin-epics-modules/motorBase
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Fix issue with power being left on when using autoPower option in asynMotorController. This could happen if the motor doesn't move because it's already in position, so the poller doesn't detect a move.

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This commit is contained in:
Matthew Pearson
2017-09-29 11:36:59 -04:00
parent 220d18fcff
commit 8229bb7658
1 changed files with 4 additions and 0 deletions
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motorApp/MotorSrc/asynMotorController.cpp
+4
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@@ -280,6 +280,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
if (function == motorMoveRel_) {
if (autoPower == 1) {
status = pAxis->setClosedLoop(true);
pAxis->setWasMovingFlag(1);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
@@ -296,6 +297,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
} else if (function == motorMoveAbs_) {
if (autoPower == 1) {
status = pAxis->setClosedLoop(true);
pAxis->setWasMovingFlag(1);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
@@ -312,6 +314,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
} else if (function == motorMoveVel_) {
if (autoPower == 1) {
status = pAxis->setClosedLoop(true);
pAxis->setWasMovingFlag(1);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
@@ -328,6 +331,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
} else if (function == motorHome_) {
if (autoPower == 1) {
status = pAxis->setClosedLoop(true);
pAxis->setWasMovingFlag(1);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);