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Merge pull request #52 from PI-SRau/PI_ctrl_cannot_set_acceleration

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Pi ctrl cannot set acceleration
This commit is contained in:
rsluiter
2017-01-24 09:42:07 -06:00
committed by GitHub
parent 14b1070b7d 5bd92b2e58
commit b7aba345ba
2 changed files with 107 additions and 99 deletions
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.gitignore
+1 -1
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@@ -14,4 +14,4 @@ envPaths
dllPath.bat
auto_settings.sav*
auto_positions.sav*
.ccfxprepdir/
motorApp/PIGCS2Src/PIGCSMotorController.cpp
+106 -98
View File
@@ -24,87 +24,87 @@ Created: 15.12.2010
asynStatus PIGCSMotorController::initAxis(PIasynAxis* pAxis)
{
asynStatus status = hasLimitSwitches(pAxis);
if (asynSuccess != status)
{
return status;
}
status = hasReferenceSensor(pAxis);
if (asynSuccess != status)
{
return status;
}
return PIGCSController::initAxis(pAxis);
asynStatus status = hasLimitSwitches(pAxis);
if (asynSuccess != status)
{
return status;
}
status = hasReferenceSensor(pAxis);
if (asynSuccess != status)
{
return status;
}
return PIGCSController::initAxis(pAxis);
}
asynStatus PIGCSMotorController::setAccelerationCts( PIasynAxis* pAxis, double accelerationCts)
{
double acceleration = fabs(accelerationCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
if (acceleration == pAxis->m_acceleration)
return asynSuccess;
if (pAxis->m_maxAcceleration < 0)
{
getMaxAcceleration(pAxis);
}
if (acceleration > pAxis->m_maxAcceleration)
acceleration = pAxis->m_maxAcceleration;
double acceleration = fabs(accelerationCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
if (acceleration == pAxis->m_acceleration)
return asynSuccess;
if (pAxis->m_maxAcceleration < 0)
{
getMaxAcceleration(pAxis);
}
if (acceleration > pAxis->m_maxAcceleration)
acceleration = pAxis->m_maxAcceleration;
return setAcceleration(pAxis, acceleration);
return setAcceleration(pAxis, acceleration);
}
asynStatus PIGCSMotorController::referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards)
{
asynStatus status = setServo(pAxis, 1);
asynStatus status = setServo(pAxis, 1);
if (asynSuccess != status)
return status;
return status;
char cmd[100];
if (velocity != 0)
{
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
sprintf(cmd,"SPA %s 0x50 %f", pAxis->m_szAxisName, velocity);
m_pInterface->sendOnly(cmd);
}
char cmd[100];
if (velocity != 0)
{
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
sprintf(cmd,"SPA %s 0x50 %f", pAxis->m_szAxisName, velocity);
m_pInterface->sendOnly(cmd);
}
if (pAxis->m_bHasReference)
{
// call FRF - find reference
sprintf(cmd,"FRF %s", pAxis->m_szAxisName);
}
else if (pAxis->m_bHasLimitSwitches)
{
if (forwards)
{
// call FPL - find positive limit switch
sprintf(cmd,"FPL %s", pAxis->m_szAxisName);
}
else
{
// call FNL - find negative limit switch
sprintf(cmd,"FNL %s", pAxis->m_szAxisName);
}
}
else
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
"PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
"PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
return asynError;
}
status = m_pInterface->sendOnly(cmd);
if (asynSuccess != status)
return status;
int errorCode = getGCSError();
if (errorCode == 0)
{
return asynSuccess;
}
if (pAxis->m_bHasReference)
{
// call FRF - find reference
sprintf(cmd,"FRF %s", pAxis->m_szAxisName);
}
else if (pAxis->m_bHasLimitSwitches)
{
if (forwards)
{
// call FPL - find positive limit switch
sprintf(cmd,"FPL %s", pAxis->m_szAxisName);
}
else
{
// call FNL - find negative limit switch
sprintf(cmd,"FNL %s", pAxis->m_szAxisName);
}
}
else
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
"PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
"PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
return asynError;
}
status = m_pInterface->sendOnly(cmd);
if (asynSuccess != status)
return status;
int errorCode = getGCSError();
if (errorCode == 0)
{
return asynSuccess;
}
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
"PIGCSMotorController::referenceVelCts() failed\n");
epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
"PIGCSMotorController::referenceVelCts() failed - GCS Error %d\n",errorCode);
return asynError;
"PIGCSMotorController::referenceVelCts() failed\n");
epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
"PIGCSMotorController::referenceVelCts() failed - GCS Error %d\n",errorCode);
return asynError;
}
@@ -113,18 +113,18 @@ asynStatus PIGCSMotorController::referenceVelCts( PIasynAxis* pAxis, double velo
*/
asynStatus PIGCSMotorController::getResolution(PIasynAxis* pAxis, double& resolution )
{
// CPU is "Counts Per Unit"
// this is stored as two integers in the controller
// CPU is "Counts Per Unit"
// this is stored as two integers in the controller
double num, denom;
asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_CPU_Z, num);
if (status != asynSuccess)
{
return status;
return status;
}
status = getGCSParameter(pAxis, PI_PARA_MOT_CPU_N, denom);
if (status != asynSuccess)
{
return status;
return status;
}
pAxis->m_CPUnumerator = num;
pAxis->m_CPUdenominator = denom;
@@ -135,11 +135,11 @@ asynStatus PIGCSMotorController::getResolution(PIasynAxis* pAxis, double& resolu
asynStatus PIGCSMotorController::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)
{
char buf[255];
char buf[255];
asynStatus status = m_pInterface->sendAndReceive(char(4), buf, 99);
if (status != asynSuccess)
{
return status;
return status;
}
// TODO this is for a single axis C-863/867 controller!!!!
// TODO a) change it to multi-axis code.
@@ -163,35 +163,43 @@ asynStatus PIGCSMotorController::getStatus(PIasynAxis* pAxis, int& homing, int&
asynStatus PIGCSMotorController::getMaxAcceleration(PIasynAxis* pAxis)
{
double maxAcc, maxDec;
asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_ACCEL, maxAcc);
if (asynSuccess != status)
return status;
status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_DECEL, maxDec);
if (asynSuccess != status)
return status;
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
double maxAcc, maxDec;
asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_ACCEL, maxAcc);
if (asynSuccess != status)
return status;
status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_DECEL, maxDec);
if (asynSuccess != status)
return status;
if (maxAcc < maxDec)
{
pAxis->m_maxAcceleration = maxAcc;
}
else
{
pAxis->m_maxAcceleration = maxDec;
}
return status;
if (maxAcc < maxDec)
{
pAxis->m_maxAcceleration = maxAcc;
}
else
{
pAxis->m_maxAcceleration = maxDec;
}
return status;
}
asynStatus PIGCSMotorController::setAcceleration( PIasynAxis* pAxis, double acceleration)
{
asynStatus status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_ACCEL, acceleration);
if (asynSuccess != status)
return status;
status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_DECEL, acceleration);
if (asynSuccess != status)
return status;
pAxis->m_acceleration = acceleration;
return status;
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
asynStatus status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_ACCEL, acceleration);
if (asynSuccess != status)
return status;
status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_DECEL, acceleration);
if (asynSuccess != status)
return status;
pAxis->m_acceleration = acceleration;
return status;
}