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Merge pull request #44 from PI-SRau/PI_ctrl_does_not_know_VEL

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Support PI controllers that do not know VEL command
This commit is contained in:
rsluiter
2016-10-21 09:31:00 -05:00
committed by GitHub
parent a113a214a6 548c1188ae
commit bd8ad1ea8f
2 changed files with 35 additions and 12 deletions
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motorApp/PIGCS2Src/PIGCSController.cpp
+33 -12
View File
@@ -113,6 +113,10 @@ bool PIGCSController::IsGCS2(PIInterface* pInterface)
asynStatus PIGCSController::setVelocityCts( PIasynAxis* pAxis, double velocity )
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
char cmd[100];
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
sprintf(cmd,"VEL %s %f", pAxis->m_szAxisName, velocity);
@@ -249,17 +253,21 @@ int PIGCSController::getGCSError()
if (0 != errorCode)
{
m_LastError = errorCode;
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error code = %d\n",
errorCode);
char szErrorMsg[1024];
if (TranslatePIError(errorCode, szErrorMsg, 1024))
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error, %s\n",
szErrorMsg);
if (m_pInterface->m_pCurrentLogSink)
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error code = %d\n",
errorCode);
char szErrorMsg[1024];
if (TranslatePIError(errorCode, szErrorMsg, 1024))
{
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
"PIGCSController::getGCSError() GCS error, %s\n",
szErrorMsg);
}
}
}
}
return errorCode;
}
@@ -310,6 +318,10 @@ asynStatus PIGCSController::getAxisPosition(PIasynAxis* pAxis, double& position)
*/
asynStatus PIGCSController::getAxisVelocity(PIasynAxis* pAxis)
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
char cmd[100];
char buf[255];
sprintf(cmd, "VEL? %s", pAxis->m_szAxisName);
@@ -445,7 +457,7 @@ asynStatus PIGCSController::getAxisPositionCts(PIasynAxis* pAxis)
pAxis->m_position = pos;
if (pAxis->m_CPUdenominator==0 || pAxis->m_CPUnumerator==0)
{
pAxis->m_positionCts = pos;
pAxis->m_positionCts = int(pos);
return status;
}
@@ -579,7 +591,7 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
"PIGCSController::initAxis() stage configuration: %s\n", buf);
}
pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
pAxis->m_movingStateMask = int (pow(2.0, pAxis->getAxisNo()) );
return setServo(pAxis, 1);
}
@@ -587,6 +599,15 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynStatus PIGCSController::init(void)
{
asynStatus status;
char buffer [1024];
status = m_pInterface->sendAndReceive("VEL?", buffer, 1023);
m_KnowsVELcommand = ( asynSuccess == status);
if (!m_KnowsVELcommand)
{
(void) getGCSError ();
}
status = findConnectedAxes();
return status;
}
motorApp/PIGCS2Src/PIGCSController.h
+2
View File
@@ -109,6 +109,8 @@ protected:
size_t m_nrFoundAxes;
char m_allAxesIDs[255];
int m_LastError;
bool m_KnowsVELcommand;
};
#endif /* PIGCSCONTROLLER_H_ */