lin-epics-modules/motorBase
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Remove '?' command string padding.

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This commit is contained in:
Ron Sluiter
2004-09-20 20:57:05 +00:00
parent 828ff28e47
commit cc9e77b3ca
2 changed files with 31 additions and 30 deletions
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motorApp/ImsSrc/devIM483PL.cc
+13 -13
View File
@@ -3,9 +3,9 @@ FILENAME... devIM483PL.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-19 17:08:02 $
Last Modified: $Date: 2004-09-20 20:54:43 $
*/
/*
@@ -218,24 +218,24 @@ STATIC RTN_STATUS IM483PL_build_trans(motor_cmnd command, double *parms, struct
switch (command)
{
case MOVE_ABS:
sprintf(buff, "? R%.*f", maxdigits, cntrl_units);
sprintf(buff, " R%.*f", maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "? %+.*f", maxdigits, cntrl_units);
sprintf(buff, " %+.*f", maxdigits, cntrl_units);
break;
case HOME_FOR:
sprintf(buff, "? F1000 0");
sprintf(buff, " F1000 0");
break;
case HOME_REV:
sprintf(buff, "? F1000 1");
sprintf(buff, " F1000 1");
break;
case LOAD_POS:
if (cntrl_units == 0.0)
sprintf(buff, "? O");
sprintf(buff, " O");
else
{
send = false;
@@ -244,11 +244,11 @@ STATIC RTN_STATUS IM483PL_build_trans(motor_cmnd command, double *parms, struct
break;
case SET_VEL_BASE:
sprintf(buff, "? I%.*f;", maxdigits, cntrl_units);
sprintf(buff, " I%.*f;", maxdigits, cntrl_units);
break;
case SET_VELOCITY:
sprintf(buff, "? V%.*f;", maxdigits, cntrl_units);
sprintf(buff, " V%.*f;", maxdigits, cntrl_units);
break;
case SET_ACCEL:
@@ -270,12 +270,12 @@ STATIC RTN_STATUS IM483PL_build_trans(motor_cmnd command, double *parms, struct
break;
case STOP_AXIS:
sprintf(buff, "? @ 0");
sprintf(buff, " @ 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "? M%.*f;", maxdigits, cntrl_units);
sprintf(buff, " M%.*f;", maxdigits, cntrl_units);
break;
case SET_PGAIN:
@@ -285,11 +285,11 @@ STATIC RTN_STATUS IM483PL_build_trans(motor_cmnd command, double *parms, struct
break;
case ENABLE_TORQUE:
sprintf(buff, "? MO;");
sprintf(buff, " MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "? MF;");
sprintf(buff, " MF;");
break;
case SET_HIGH_LIMIT:
motorApp/ImsSrc/devMDrive.cc
+18 -17
View File
@@ -3,9 +3,9 @@ FILENAME... devMDrive.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. MDrive series of controllers.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-03-16 15:13:32 $
Last Modified: $Date: 2004-09-20 20:57:05 $
*/
/*
@@ -40,6 +40,7 @@ Last Modified: $Date: 2004-03-16 15:13:32 $
* .03 03/15/04 rls bug fix for LOAD_POS command with encoder.
* .04 03/16/04 rls Protect against NULL "parms" argument in
* MDrive_build_trans().
* .05 09/20/04 rls remove '?' command string padding.
*/
#include <string.h>
@@ -190,7 +191,7 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, "? ");
strcat(motor_call->message, " ");
strcat(motor_call->message, mr->init);
}
@@ -218,23 +219,23 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
switch (command)
{
case MOVE_ABS:
sprintf(buff, "?MA %d", intval);
sprintf(buff, "MA %d", intval);
break;
case MOVE_REL:
sprintf(buff, "?MR %d", intval);
sprintf(buff, "MR %d", intval);
break;
case HOME_FOR:
sprintf(buff, "? F1000 0");
sprintf(buff, " F1000 0");
break;
case HOME_REV:
sprintf(buff, "? F1000 1");
sprintf(buff, " F1000 1");
break;
case LOAD_POS:
sprintf(buff, "?P=%d", intval);
sprintf(buff, "P=%d", intval);
if (msta.Bits.EA_PRESENT == 1)
{
/* Finish 1st message; MDrive can only handle one msg. */
@@ -243,27 +244,27 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards);
intval = NINT(mr->dval / mr->eres);
sprintf(buff, "?C2=%d", intval);
sprintf(buff, "C2=%d", intval);
motor_call->type = MDrive_table[command];
}
break;
case SET_VEL_BASE:
sprintf(buff, "?VI %d", intval);
sprintf(buff, "VI %d", intval);
break;
case SET_VELOCITY:
sprintf(buff, "?VM %d", intval);
sprintf(buff, "VM %d", intval);
break;
case SET_ACCEL:
sprintf(buff, "?A=%d", intval);
sprintf(buff, "A=%d", intval);
break;
case GO:
/* The MDrive starts moving immediately on move commands, GO command
* does nothing. Use it to set ACCL = DECL. */
sprintf(buff, "?A=D");
sprintf(buff, "A=D");
break;
case PRIMITIVE:
@@ -274,12 +275,12 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
break;
case STOP_AXIS:
sprintf(buff, "?SL 0");
sprintf(buff, "SL 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "?SL=%d", intval);
sprintf(buff, "SL=%d", intval);
break;
case SET_PGAIN:
@@ -289,11 +290,11 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
break;
case ENABLE_TORQUE:
sprintf(buff, "?DE=1");
sprintf(buff, "DE=1");
break;
case DISABL_TORQUE:
sprintf(buff, "?DE=0");
sprintf(buff, "DE=0");
break;
case SET_HIGH_LIMIT: