lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Added interpolationFactor_ and stepSize_; allows steps smaller than encoderIncrement

Browse Source
This commit is contained in:
MarkRivers
2013-04-16 22:36:42 +00:00
parent b894fe6999
commit 87a3933557
1 changed files with 17 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/NewportSrc/AG_CONEX.cpp
+17 -7
View File
@@ -164,6 +164,14 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
sprintf(pC_->outString_, "%dSU?", pC->controllerID_);
pC_->writeReadController();
encoderIncrement_ = atof(&pC_->inString_[3]);
// Read the interpolation factor
sprintf(pC_->outString_, "%dIF?", pC->controllerID_);
pC_->writeReadController();
interpolationFactor_ = atof(&pC_->inString_[3]);
// Compute the minimum step size
stepSize_ = encoderIncrement_ / interpolationFactor_;
// Read the low and high software limits
sprintf(pC_->outString_, "%dSL?", pC->controllerID_);
@@ -183,8 +191,10 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
void AG_CONEXAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " currentPosition=%f, positionOffset=%f, encoderIncrement=%f, lowLimit=%f, highLimit=%f\n",
currentPosition_, positionOffset_, encoderIncrement_, lowLimit_, highLimit_);
fprintf(fp, " currentPosition=%f, positionOffset=%f, encoderIncrement=%f\n"
" interpolationFactor=%f, stepSize=%f, lowLimit=%f, highLimit=%f\n",
currentPosition_, positionOffset_, encoderIncrement_,
interpolationFactor_, stepSize_, lowLimit_, highLimit_);
}
// Call the base class method
@@ -197,9 +207,9 @@ asynStatus AG_CONEXAxis::move(double position, int relative, double minVelocity,
// static const char *functionName = "AG_CONEXAxis::move";
if (relative) {
sprintf(pC_->outString_, "%dPR%f", pC_->controllerID_, position*encoderIncrement_);
sprintf(pC_->outString_, "%dPR%f", pC_->controllerID_, position*stepSize_);
} else {
sprintf(pC_->outString_, "%dPA%f", pC_->controllerID_, (position-positionOffset_)*encoderIncrement_);
sprintf(pC_->outString_, "%dPA%f", pC_->controllerID_, (position-positionOffset_)*stepSize_);
}
status = pC_->writeAgilis();
return status;
@@ -222,8 +232,8 @@ asynStatus AG_CONEXAxis::moveVelocity(double minVelocity, double maxVelocity, do
//static const char *functionName = "AG_CONEXAxis::moveVelocity";
// The CONEX does not have a jog command. Move almost to soft limit.
if (maxVelocity > 0) position = lowLimit_ + 0.999*(highLimit_ - lowLimit_);
else position = highLimit_ - 0.999*(highLimit_ - lowLimit_);
if (maxVelocity > 0) position = highLimit_ - stepSize_;
else position = lowLimit_ + stepSize_;
sprintf(pC_->outString_, "%dPA%f", pC_->controllerID_, position);
status = pC_->writeAgilis();
@@ -280,7 +290,7 @@ asynStatus AG_CONEXAxis::poll(bool *moving)
if (comStatus) goto skip;
// The response string is of the form "1TPxxx"
position = atof(&pC_->inString_[3]);
currentPosition_ = (position + positionOffset_)/encoderIncrement_;
currentPosition_ = (position + positionOffset_)/stepSize_;
setDoubleParam(pC_->motorPosition_, currentPosition_);
// Read the moving status of this motor