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Cleaned up the setPosition method

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kpetersn
2018-03-22 15:09:58 -05:00
parent 11ee7839bb
commit 892225f1fc
1 changed files with 7 additions and 12 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+7 -12
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@@ -649,25 +649,13 @@ asynStatus ANF2Axis::setPosition(double position)
epicsInt32 posReg[5];
//static const char *functionName = "ANF2Axis::setPosition";
//set_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
zeroRegisters(posReg);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.05);
//status = writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
set_position = NINT(position);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, set_position, DEFAULT_CONTROLLER_TIMEOUT);
set_bit = 0x200;
//status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
//set_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
posReg[0] = 0x200 << 16;
posReg[1] = set_position;
@@ -678,6 +666,13 @@ asynStatus ANF2Axis::setPosition(double position)
// Write all the registers atomically
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
//epicsThreadSleep(0.05);
// The ANG1 driver does this; do we need to?
//zeroRegisters(posReg);
// Clear the command/configuration register
//status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}