Added implementation of new methods, e.g. setHighLimit, setPGain, etc.; changed all dummy methods to return asynSuccess rather than asynError, so derived classes don't need to implement them

motorApp/MotorSrc/asynMotorAxis.cpp

@@ -19,7 +19,6 @@
 static const char *driverName = "asynMotorAxis";
 
 
-
 /** Creates a new asynMotorAxis object.
   * \param[in] pC Pointer to the asynMotorController to which this axis belongs. 
   * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
@@ -60,7 +59,6 @@ asynMotorAxis::asynMotorAxis(class asynMotorController *pC, int axisNo)
 }
 
 
-
 /** Move the motor to an absolute location or by a relative amount.
   * \param[in] position  The absolute position to move to (if relative=0) or the relative distance to move 
   * by (if relative=1). Units=steps.
@@ -70,22 +68,20 @@ asynMotorAxis::asynMotorAxis(class asynMotorController *pC, int axisNo)
   * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
 asynStatus asynMotorAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
-  return asynError;
+  return asynSuccess;
 }
 
 
-
 /** Move the motor at a fixed velocity until told to stop.
   * \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
   * \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
   * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
 asynStatus asynMotorAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
 {
-  return asynError;
+  return asynSuccess;
 }
 
 
-
 /** Move the motor to the home position.
   * \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
   * \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
@@ -94,20 +90,18 @@ asynStatus asynMotorAxis::moveVelocity(double minVelocity, double maxVelocity, d
   *                      Some controllers need to be told the direction, others know which way to go to home. */
 asynStatus asynMotorAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
-  return asynError;
+  return asynSuccess;
 }
 
 
-
 /** Stop the motor.
   * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
 asynStatus asynMotorAxis::stop(double acceleration)
 {
-  return asynError;
+  return asynSuccess;
 }
 
 
-
 /** Poll the axis.
   * This function should read the controller position, encoder position, and as many of the motorStatus flags
   * as the hardware supports.  It should call setIntegerParam() and setDoubleParam() for each item that it polls,
@@ -115,9 +109,87 @@ asynStatus asynMotorAxis::stop(double acceleration)
   * \param[out] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
 asynStatus asynMotorAxis::poll(bool *moving)
 {
-  return asynError;
+  return asynSuccess;
 }
 
+
+/** Set the current position of the motor.
+  * \param[in] position The new absolute motor position that should be set in the hardware. Units=steps.*/
+asynStatus asynMotorAxis::setPosition(double position)
+{
+  return asynSuccess;
+}
+
+
+/** Set the current encoder position of the motor.
+  * \param[in] position The new absolute encoder position that should be set in the hardware. Units=steps.*/
+asynStatus asynMotorAxis::setEncoderPosition(double position)
+{
+  return asynSuccess;
+}
+
+
+/** Set the high limit position of the motor.
+  * \param[in] highLimit The new high limit position that should be set in the hardware. Units=steps.*/
+asynStatus asynMotorAxis::setHighLimit(double highLimit)
+{
+  return asynSuccess;
+}
+
+
+/** Set the low limit position of the motor.
+  * \param[in] lowLimit The new low limit position that should be set in the hardware. Units=steps.*/
+asynStatus asynMotorAxis::setLowLimit(double lowLimit)
+{
+  return asynSuccess;
+}
+
+
+/** Set the proportional gain of the motor.
+  * \param[in] pGain The new proportional gain. */
+asynStatus asynMotorAxis::setPGain(double pGain)
+{
+  return asynSuccess;
+}
+
+
+/** Set the integral gain of the motor.
+  * \param[in] iGain The new integral gain. */
+asynStatus asynMotorAxis::setIGain(double iGain)
+{
+  return asynSuccess;
+}
+
+
+/** Set the derivative gain of the motor.
+  * \param[in] pGain The new derivative gain. */
+asynStatus asynMotorAxis::setDGain(double dGain)
+{
+  return asynSuccess;
+}
+
+
+/** Set the motor closed loop status. 
+  * \param[in] closedLoop true = close loop, false = open looop. */
+asynStatus asynMotorAxis::setClosedLoop(bool closedLoop)
+{
+  return asynSuccess;
+}
+
+
+/** Set the motor encoder ratio. 
+  * \param[in] ratio The new encoder ratio */
+asynStatus asynMotorAxis::setEncoderRatio(double ratio)
+{
+  return asynSuccess;
+}
+
+
+void asynMotorAxis::report(FILE *fp, int details)
+{
+}
+
+
 /**
  * Default implementation of doMoveToHome. 
  * Derived classes need to implement this to actually perform the 
@@ -130,9 +202,10 @@ asynStatus asynMotorAxis::doMoveToHome()
   asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, 
     "%s:%s: Axis=%d no implementation\n",
     driverName, functionName, pC_->moveToHomeAxis_);
-  return asynError;
+  return asynSuccess;
 }
 
+
 /**
  * Set method for referencingModeMove_
  */
@@ -141,6 +214,7 @@ void  asynMotorAxis::setReferencingModeMove(int distance)
   referencingModeMove_ = distance; 
 }
 
+
 /**
  * Get method for referencingModeMove_
  */
@@ -151,14 +225,6 @@ int  asynMotorAxis::getReferencingModeMove()
 
 
 
-/** Set the current position of the motor.
-  * \param[in] position The new absolute motor position that should be set in the hardware. Units=steps.*/
-asynStatus asynMotorAxis::setPosition(double position)
-{
-  return asynError;
-}
-
-
 
 // We implement the setIntegerParam, setDoubleParam, and callParamCallbacks methods so we can construct 
 // the aggregate status structure and do callbacks on it