From 942bb111d2f7903f0368d5417c0e4f7d89ee7c2a Mon Sep 17 00:00:00 2001 From: mp49 Date: Fri, 20 May 2011 16:06:50 +0000 Subject: [PATCH] motor: setting motorAxisHasEncoder bit for Newport XPS axes. This is so we can make use of the UEIP field. --- motorApp/NewportSrc/drvXPSAsyn.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/motorApp/NewportSrc/drvXPSAsyn.c b/motorApp/NewportSrc/drvXPSAsyn.c index 61e71404..382c37ca 100644 --- a/motorApp/NewportSrc/drvXPSAsyn.c +++ b/motorApp/NewportSrc/drvXPSAsyn.c @@ -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;