lin-epics-modules/motorBase
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Added scope commands

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timmmooney
2013-09-23 17:15:52 +00:00
parent dbde547693
commit aa6434eebf
1 changed files with 45 additions and 1 deletions
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motorApp/AerotechSrc/doCommand.ab
+45 -1
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@@ -13,6 +13,12 @@ HEADER
DEFINE cmdABORT 11
DEFINE cmdSTARTABORT 12
DEFINE cmdSCOPEBUFFER 13
DEFINE cmdSCOPEDATA 14
DEFINE cmdSCOPESTATUS 15
DEFINE cmdSCOPETRIG 16
DEFINE cmdSCOPETRIGPERIOD 17
DEFINE cmdVar 45
DEFINE iarg1Var 46
DEFINE iarg2Var 47
@@ -30,6 +36,26 @@ HEADER
DEFINE numIArg 44
DEFINE numDArg 43
' Numerical values for first arg to scopedata()
DEFINE sd_PositionCommand 0
DEFINE sd_PositionFeedback 1
DEFINE sd_ExternalPosition 2
DEFINE sd_AxisFault 3
DEFINE sd_AxisStatus 4
DEFINE sd_AnalogInput0 5
DEFINE sd_AnalogInput1 6
DEFINE sd_AnalogOutput0 7
DEFINE sd_AnalogOutput1 8
DEFINE sd_DigitalInput0 9
DEFINE sd_DigitalInput1 10
DEFINE sd_DigitalOutput0 11
DEFINE sd_DigitalOutput1 12
DEFINE sd_CurrentCommand 13
DEFINE sd_CurrentFeedback 14
DEFINE sd_OptionalData1 15
DEFINE sd_OptionalData2 16
DEFINE sd_ProgramCounter 17
END HEADER
PROGRAM
@@ -39,7 +65,8 @@ PROGRAM
DIM axis3Number AS Integer
DIM axis4Number AS Integer
DIM keepon as Integer
DIM iarg as integer
wait mode nowait
keepon = 1
@@ -95,6 +122,23 @@ PROGRAM
ABORT @axis1Number @axis2Number @axis3Number @axis4Number
end if
keepon = 0
ELSEIF IGLOBAL(cmdVar) = cmdSCOPEBUFFER THEN
SCOPEBUFFER IGLOBAL(iarg1Var)
ELSEIF IGLOBAL(cmdVar) = cmdSCOPEDATA THEN
iarg = IGLOBAL(iarg1Var)
if iarg = sd_PositionCommand then
DGLOBAL(darg1Var) = SCOPEDATA(PositionCommand, IGLOBAL(iarg2Var))
elseif iarg = sd_PositionFeedback then
DGLOBAL(darg1Var) = SCOPEDATA(PositionFeedback, IGLOBAL(iarg2Var))
elseif iarg = sd_CurrentFeedback then
DGLOBAL(darg1Var) = SCOPEDATA(CurrentFeedback, IGLOBAL(iarg2Var))
end if
ELSEIF IGLOBAL(cmdVar) = cmdSCOPESTATUS THEN
IGLOBAL(iarg1Var) = SCOPESTATUS(IGLOBAL(iarg1Var))
ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIG THEN
SCOPETRIG
ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIGPERIOD THEN
SCOPETRIGPERIOD IGLOBAL(iarg1Var)
END IF
IGLOBAL(cmdVar) = cmdDONE
DWELL 0.01