lin-epics-modules/motorBase
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Changed move, moveVelocity, home, poll and setPosition from pure virtual to normal virtual functions; minor reformatting

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MarkRivers
2011-04-04 18:33:03 +00:00
parent f151ad6b4a
commit 8c64465e39
1 changed files with 12 additions and 43 deletions
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motorApp/MotorSrc/asynMotorAxis.h
+12 -43
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@@ -18,7 +18,8 @@
/** Class from which motor axis objects are derived. */
class epicsShareFunc asynMotorAxis {
public:
public:
/* This is the constructor for the class. */
asynMotorAxis(class asynMotorController *pController, int axisNumber);
@@ -26,44 +27,12 @@ public:
virtual asynStatus setDoubleParam(int index, double value);
virtual asynStatus callParamCallbacks();
// These are pure virtual functions which derived classes must implement
/** Move the motor to an absolute location or by a relative amount.
* \param[in] position The absolute position to move to (if relative=0) or the relative distance to move
* by (if relative=1). Units=steps.
* \param[in] relative Flag indicating relative move (1) or absolute move (0).
* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) = 0;
/** Move the motor at a fixed velocity until told to stop.
* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration) = 0;
/** Move the motor to the home position.
* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
* \param[in] acceleration The acceleration value. Units=steps/sec/sec.
* \param[in] forwards Flag indicating to move the motor in the forward direction(1) or reverse direction(0).
* Some controllers need to be told the direction, others know which way to go to home. */
virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards) = 0;
/** Stop the motor.
* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
virtual asynStatus stop(double acceleration) = 0;
/** Poll the axis.
* This function should read the controller position, encoder position, and as many of the motorStatus flags
* as the hardware supports. It should call setIntegerParam() and setDoubleParam() for each item that it polls,
* and then call callParamCallbacks() at the end.
* \param[out] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
virtual asynStatus poll(int *moving) = 0;
/** Set the current position of the motor.
* \param[in] position The new absolute motor position that should be set in the hardware. Units=steps.*/
virtual asynStatus setPosition(double position) = 0;
virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration);
virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration);
virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
virtual asynStatus stop(double acceleration);
virtual asynStatus poll(int *moving);
virtual asynStatus setPosition(double position);
virtual asynStatus initializeProfile(int maxPoints);
virtual asynStatus defineProfile(double *positions, int numPoints);
@@ -71,20 +40,20 @@ public:
virtual asynStatus executeProfile();
virtual asynStatus readbackProfile();
protected:
protected:
class asynMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
int axisNo_; /**< Index number of this axis (0 - pC_->numAxes_-1) */
asynUser *pasynUser_; /**< asynUser connected to this axis for asynTrace debugging */
double *profilePositions_; /**< Array of target positions for profile moves */
double *profilePositionsRBV_; /**< Array of readback positions for profile moves */
double *profileReadbacks_; /**< Array of readback positions for profile moves */
double *profileFollowingErrors_; /**< Array of following errors for profile moves */
private:
private:
MotorStatus status_;
int statusChanged_;
friend class asynMotorController;
friend class asynMotorController;
};
#endif /* _cplusplus */