lin-epics-modules/motorBase
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Changed position compare functions to work in motor record units

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MarkRivers
2015-03-21 21:19:19 +00:00
parent e82cc1eaae
commit a73b3807fa
1 changed files with 68 additions and 5 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+68 -5
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@@ -870,6 +870,64 @@ asynStatus XPSAxis::setClosedLoop(bool closedLoop)
return (asynStatus)status;
}
double XPSAxis::motorRecPositionToXPSPosition(double motorRecPosition)
{
int direction;
double offset, resolution, XPSPosition;
pC_->getDoubleParam (axisNo_, pC_->motorRecResolution_, &resolution);
pC_->getDoubleParam (axisNo_, pC_->motorRecOffset_, &offset);
pC_->getIntegerParam(axisNo_, pC_->motorRecDirection_, &direction);
if (direction != 0) resolution = -resolution;
if (resolution == 0) resolution = 1;
XPSPosition = (motorRecPosition - offset) / resolution * stepSize_;
return XPSPosition;
}
double XPSAxis::XPSPositionToMotorRecPosition(double XPSPosition)
{
int direction;
double offset, resolution, motorRecPosition;
pC_->getDoubleParam (axisNo_, pC_->motorRecResolution_, &resolution);
pC_->getDoubleParam (axisNo_, pC_->motorRecOffset_, &offset);
pC_->getIntegerParam(axisNo_, pC_->motorRecDirection_, &direction);
if (direction != 0) resolution = -resolution;
if (stepSize_ == 0) stepSize_ = 1;
motorRecPosition = XPSPosition * resolution / stepSize_ + offset;
return motorRecPosition;
}
double XPSAxis::motorRecStepToXPSStep(double motorRecStep)
{
int direction;
double resolution, XPSStep;
pC_->getDoubleParam (axisNo_, pC_->motorRecResolution_, &resolution);
pC_->getIntegerParam(axisNo_, pC_->motorRecDirection_, &direction);
if (direction != 0) resolution = -resolution;
if (resolution == 0) resolution = 1;
XPSStep = motorRecStep / resolution * stepSize_;
return XPSStep;
}
double XPSAxis::XPSStepToMotorRecStep(double XPSStep)
{
int direction;
double resolution, motorRecStep;
pC_->getDoubleParam (axisNo_, pC_->motorRecResolution_, &resolution);
pC_->getIntegerParam(axisNo_, pC_->motorRecDirection_, &direction);
if (direction != 0) resolution = -resolution;
if (stepSize_ == 0) stepSize_ = 1;
motorRecStep = XPSStep * resolution / stepSize_;
return motorRecStep;
}
asynStatus XPSAxis::setPositionCompare()
{
int mode;
@@ -887,6 +945,11 @@ asynStatus XPSAxis::setPositionCompare()
pC_->getIntegerParam(axisNo_, pC_->XPSPositionCompareSettlingTime_, &itemp);
settlingTime = positionCompareSettlingTimes[itemp];
// minPosition and maxPosition are in motor record units. Convert to XPS units
minPosition = motorRecPositionToXPSPosition(minPosition);
maxPosition = motorRecPositionToXPSPosition(maxPosition);
stepSize = fabs(motorRecStepToXPSStep(stepSize));
// Disable the position compare so we can set parameters
status = PositionerPositionCompareDisable(pollSocket_, positionerName_);
if (status) {
@@ -975,14 +1038,14 @@ asynStatus XPSAxis::getPositionCompare()
}
status = PositionerPositionCompareGet(pollSocket_, positionerName_, &minPosition, &maxPosition, &stepSize, &enable);
if (status == 0) {
setDoubleParam(pC_->XPSPositionCompareMinPosition_, minPosition);
setDoubleParam(pC_->XPSPositionCompareMaxPosition_, maxPosition);
setDoubleParam(pC_->XPSPositionCompareStepSize_, stepSize);
setDoubleParam(pC_->XPSPositionCompareMinPosition_, XPSPositionToMotorRecPosition(minPosition));
setDoubleParam(pC_->XPSPositionCompareMaxPosition_, XPSPositionToMotorRecPosition(maxPosition));
setDoubleParam(pC_->XPSPositionCompareStepSize_, XPSStepToMotorRecStep(stepSize));
}
status = PositionerPositionCompareAquadBWindowedGet(pollSocket_, positionerName_, &minPosition, &maxPosition, &enable);
if (status == 0) {
setDoubleParam(pC_->XPSPositionCompareMinPosition_, minPosition);
setDoubleParam(pC_->XPSPositionCompareMaxPosition_, maxPosition);
setDoubleParam(pC_->XPSPositionCompareMinPosition_, XPSPositionToMotorRecPosition(minPosition));
setDoubleParam(pC_->XPSPositionCompareMaxPosition_, XPSPositionToMotorRecPosition(maxPosition));
}
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: set XPS %s, axis %d "