motor: setting motorAxisHasEncoder bit for Newport XPS axes. This is so we can make use of the UEIP field.

2011-05-20 16:06:50 +00:00
parent 2edcb2fcba
commit 942bb111d2
1 changed files with 3 additions and 0 deletions
@@ -342,6 +342,9 @@ static int motorAxisInit(void)
      motorParam->setDouble(pAxis->params, motorAxisIGain, (pAxis->xpsCorrectorInfo).KI);
      motorParam->setDouble(pAxis->params, motorAxisDGain, (pAxis->xpsCorrectorInfo).KD);

+      /*Set motorAxisHasEncoder so that we can use UEIP field.*/
+      motorParam->setDouble(pAxis->params, motorAxisHasEncoder, 1);
+
      /*Initialise deferred move flags.*/
      pAxis->deferred_relative = 0;
      pAxis->deferred_position = 0;