lin-epics-modules/motorBase
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Fixed logic problem with pollPeriods being divided by 1000 twice; moved initial query of pulsesPerUnit from controller constructor to axis constructor

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This commit is contained in:
MarkRivers
2011-03-31 23:01:36 +00:00
parent 51e5cf5545
commit bf8e72ad1b
1 changed files with 19 additions and 16 deletions
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motorApp/ACRSrc/ACRMotorDriver.cpp
+19 -16
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@@ -48,8 +48,8 @@ ACRController::ACRController(const char *portName, const char *ACRPortName, int
ACRAxis *pAxis;
static const char *functionName = "ACRController";
idlePollPeriod_ = idlePollPeriod/1000.;
movingPollPeriod_ = movingPollPeriod/1000.;
idlePollPeriod_ = idlePollPeriod;
movingPollPeriod_ = movingPollPeriod;
binaryInReg_ = 4096;
binaryOutReg_ = 4097;
@@ -80,20 +80,9 @@ ACRController::ACRController(const char *portName, const char *ACRPortName, int
readBinaryIO();
// Set the output=output readback so bi records reflect current state
setUIntDigitalParam(0, ACRBinaryOut_, binaryOutRBV_, 0xFFFFFFFF);
// Create the axis objects
for (axis=0; axis<numAxes; axis++) {
pAxis = new ACRAxis(this, axis);
// Get the number of pulses per unit on this axis
sprintf(outString_, "%s PPU", pAxis->axisName_);
status = writeReadController();
if (status) {
setIntegerParam(axis, motorStatusProblem_, 1);
} else {
pAxis->pulsesPerUnit_ = atof(inString_);
// We assume servo motor with encoder for now
setIntegerParam(axis, motorStatusGainSupport_, 1);
setIntegerParam(axis, motorStatusHasEncoder_, 1);
}
callParamCallbacks(axis);
pAxis = new ACRAxis(this, axis);
}
startPoller(movingPollPeriod/1000., idlePollPeriod/1000., 2);
@@ -252,7 +241,7 @@ asynStatus ACRController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
}
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axisNo_);
pAxis->callParamCallbacks();
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%f\n",
@@ -387,11 +376,25 @@ ACRAxis::ACRAxis(ACRController *pC, int axisNo)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
asynStatus status;
sprintf(axisName_, "AXIS%d", axisNo);
encoderPositionReg_ = 12290 + 256*axisNo;
theoryPositionReg_ = 12294 + 256*axisNo;
limitsReg_ = 4600 + axisNo;
flagsReg_ = 4120 + axisNo;
// Get the number of pulses per unit on this axis
sprintf(pC->outString_, "%s PPU", axisName_);
status = pC->writeReadController();
if (status) {
setIntegerParam(pC->motorStatusProblem_, 1);
} else {
pulsesPerUnit_ = atof(pC->inString_);
// We assume servo motor with encoder for now
setIntegerParam(pC->motorStatusGainSupport_, 1);
setIntegerParam(pC->motorStatusHasEncoder_, 1);
}
callParamCallbacks();
}
asynStatus ACRAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)