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Implement jogging using the actual jog command. Stopping a jog is different than a normal move, so the stop method had to get smarter. Removed the extra call to base class's writeInt32 that was resulting in double stop commands being sent.

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kpetersn
2018-03-28 10:32:30 -05:00
parent 021228e0e7
commit 9e0b87ee74
2 changed files with 26 additions and 16 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+25 -16
View File
@@ -247,9 +247,6 @@ asynStatus ANF2Controller::writeInt32(asynUser *pasynUser, epicsInt32 value)
status = asynMotorController::writeInt32(pasynUser, value);
}
// Call base class method
status = asynMotorController::writeInt32(pasynUser, value);
/* Do callbacks so higher layers see any changes */
pAxis->callParamCallbacks();
if (status)
@@ -735,9 +732,11 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
/*
// The jog command doesn't work well. It seems to require stopping with an immediate stop,
// but immediate stops cause problems for normal moves.
//
// The jog command requires a different stop than a move command
// Set a jogging flag
jogging_ = true;
// Clear the command/configuration register
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -772,8 +771,9 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
// Write all the registers atomically
status = pC_->writeReg32Array(axisNo_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
*/
//
/*
velo = NINT(fabs(maxVelocity));
// Simulate a jog like the ANG1 driver does. Move 1 million steps
@@ -787,6 +787,7 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
//printf(" ** relative move (JOG neg) called\n");
status = move((distance * -1.0), 0, minVelocity, velo, acceleration);
}
*/
// Delay the first status read, give the controller some time to return moving status
epicsThreadSleep(0.05);
@@ -805,19 +806,27 @@ asynStatus ANF2Axis::stop(double acceleration)
// The stop commands ignore all 32-bit registers beyond the first
// Clear the command/configuration register
// Clear the command/configuration register (this causes a jog to stop)
status = pC_->writeReg32Array(axisNo_, zeroReg_, 1, DEFAULT_CONTROLLER_TIMEOUT);
// Immediate stop works well with jogs, but breaks the first normal move
//stopReg = 0x10 << 16; // Immediate stop
// Hold move works very well with normal moves
stopReg = 0x4 << 16; // Hold move
if (jogging_ == false)
{
//printf("stopping a normal move\n");
// The immediate stop command cuts the pulses off without any deceleration and causes the position to become invalid
//stopReg = 0x10 << 16; // Immediate stop
// Hold move works very well with normal moves
stopReg = 0x4 << 16; // Hold move
//
status = pC_->writeReg32Array(axisNo_, &stopReg, 1, DEFAULT_CONTROLLER_TIMEOUT);
// This causes a normal move to stop
status = pC_->writeReg32Array(axisNo_, &stopReg, 1, DEFAULT_CONTROLLER_TIMEOUT);
// Clear the command/configuration register
//status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
// Clear the command/configuration register
//status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
} else {
// Reset the jogging flag (assume the stop was successful)
//printf("resetting the jog flag\n");
jogging_ = false;
}
return status;
}
motorApp/AMCISrc/ANF2Driver.h
+1
View File
@@ -92,6 +92,7 @@ private:
epicsInt32 motionReg_[5];
epicsInt32 confReg_[5];
epicsInt32 zeroReg_[5];
bool jogging_;
// Configuration bits
short CaptInput_;
short ExtInput_;