lin-epics-modules/motorBase
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Merge pull request #38 from rokvintar/reading_velo_accl_params_fix

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Velocity, baseVelocity and acceleration read only when needed. Fix fo…
This commit is contained in:
Mark Rivers
2016-08-23 14:24:32 -05:00
committed by GitHub
parent 62b41c4150 7ee34a791b
commit cb77427006
1 changed files with 11 additions and 4 deletions
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motorApp/MotorSrc/asynMotorController.cpp
+11 -4
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@@ -277,15 +277,14 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
/* Set the parameter and readback in the parameter library. */
status = pAxis->setDoubleParam(function, value);
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorVelocity_, &velocity);
getDoubleParam(axis, motorAccel_, &acceleration);
if (function == motorMoveRel_) {
if (autoPower == 1) {
status = pAxis->setClosedLoop(true);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorVelocity_, &velocity);
getDoubleParam(axis, motorAccel_, &acceleration);
status = pAxis->move(value, 1, baseVelocity, velocity, acceleration);
pAxis->setIntegerParam(motorStatusDone_, 0);
pAxis->callParamCallbacks();
@@ -299,6 +298,9 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
status = pAxis->setClosedLoop(true);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorVelocity_, &velocity);
getDoubleParam(axis, motorAccel_, &acceleration);
status = pAxis->move(value, 0, baseVelocity, velocity, acceleration);
pAxis->setIntegerParam(motorStatusDone_, 0);
pAxis->callParamCallbacks();
@@ -312,6 +314,8 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
status = pAxis->setClosedLoop(true);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorAccel_, &acceleration);
status = pAxis->moveVelocity(baseVelocity, value, acceleration);
pAxis->setIntegerParam(motorStatusDone_, 0);
pAxis->callParamCallbacks();
@@ -326,6 +330,9 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
status = pAxis->setClosedLoop(true);
epicsThreadSleep(autoPowerOnDelay);
}
getDoubleParam(axis, motorVelBase_, &baseVelocity);
getDoubleParam(axis, motorVelocity_, &velocity);
getDoubleParam(axis, motorAccel_, &acceleration);
forwards = (value == 0) ? 0 : 1;
status = pAxis->home(baseVelocity, velocity, acceleration, forwards);
pAxis->setIntegerParam(motorStatusDone_, 0);