lin-epics-modules/motorBase
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Cleaned up some of the code.

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kpetersn
2018-03-22 11:49:41 -05:00
parent 1fc33f95f9
commit 89cf615600
1 changed files with 5 additions and 30 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+5 -30
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@@ -490,43 +490,33 @@ void ANF2Axis::report(FILE *fp, int level)
// SET VEL & ACCEL
asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
// static const char *functionName = "ANF2::sendAccelAndVelocity";
// Send the velocity
//status = pC_->writeReg32(axisNo_, SPD_UPR, NINT(velocity), DEFAULT_CONTROLLER_TIMEOUT);
// Set the velocity register
motionReg_[2] = NINT(velocity);
// Send the acceleration
// ANF2 acceleration range 1 to 2000 steps/ms/sec
// Therefore need to limit range received by motor record from 1000 to 5e6 steps/sec/sec
// Therefore need to limit range received by motor record from 1000 to 2e6 steps/sec/sec
if (acceleration < 1000) {
// print message noting that accel has been capped low
//printf("Acceleration is < 1000: %lf\n", acceleration);
acceleration = 1000;
}
if (acceleration > 2000000) {
// print message noting that accel has been capped high
//printf("Acceleration is > 2000: %lf\n", acceleration);
acceleration = 2000000;
}
// ANF2 acceleration units are steps/millisecond/second, so we divide by 1000 here
//status = pC_->writeReg16(axisNo_, ACCEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, DECEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
// Set the accel/decel register
motionReg_[3] = (NINT(acceleration/1000.0) << 16) | (NINT(acceleration/1000.0));
return status;
return asynSuccess;
}
// MOVE
asynStatus ANF2Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
int distance, move_bit;
epicsInt32 distance;
printf(" ** ANF2Axis::move called, relative = %d, axisNo_ = %i\n", relative, this->axisNo_);
@@ -541,15 +531,8 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
if (relative) {
printf(" ** relative move called\n");
//status = pC_->writeReg32(axisNo_, SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
distance = NINT(position);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//move_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x2;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
// Set position and cmd registers
motionReg_[1] = NINT(position);
@@ -558,21 +541,13 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
} else {
// absolute
printf(" ** absolute move called\n");
//status = pC_->writeReg32(axisNo_, SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
distance = NINT(position);
printf(" ** distance = %d\n", distance);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//move_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x1;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
// Set position and cmd registers
motionReg_[1] = NINT(position);
motionReg_[0] = 0x1 << 16;
}
// The final registers are zero for absolute and relative moves