lin-epics-modules/motorBase
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Revert "Merge branch 'master' into master"

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This reverts commit 3ec6ec433c, reversing
changes made to 8966aeabf2.
This commit is contained in:
kpetersn
2017-08-23 15:36:12 -05:00
parent 3ec6ec433c
commit a3cd81031a
14 changed files with 0 additions and 1298 deletions
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iocBoot/iocWithAsyn/scripts/softMotor.lua
-67
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@@ -1,67 +0,0 @@
IdlePollPeriod = 1.00
MovingPollPeriod = 0.25
lastPos = 0
targetPos = 0
function move(position, relative, minVel, maxVel, accel)
local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
if (relative) then
local prev = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
targetPos = prev + (position * MRES)
else
targetPos = (position * MRES)
end
epics.put(DRIVE_PV, targetPos)
if (position > 0) then
asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 1)
else
asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 0)
end
asyn.callParamCallbacks(DRIVER, AXIS)
end
function poll()
local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
if (MRES == 0.0) then
return true
end
local curr = epics.get(READBACK_PV)
asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", curr / MRES)
local done = 0
local moving = 1
if (curr == targetPos) then
done = 1
moving = 0
elseif (math.abs(curr - targetPos) <= MRES and lastPos == curr) then
done = 1
moving = 0
end
lastPos = curr
asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", moving)
asyn.callParamCallbacks(DRIVER, AXIS)
return (done ~= 1)
end
function stop(acceleration)
local curr = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
epics.put(DRIVE_PV, curr)
targetPos = curr
end