From cc9e77b3cad7168c54b7780e8593f4a5ebd19f9d Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Mon, 20 Sep 2004 20:57:05 +0000 Subject: [PATCH] Remove '?' command string padding. --- motorApp/ImsSrc/devIM483PL.cc | 26 +++++++++++++------------- motorApp/ImsSrc/devMDrive.cc | 35 ++++++++++++++++++----------------- 2 files changed, 31 insertions(+), 30 deletions(-) diff --git a/motorApp/ImsSrc/devIM483PL.cc b/motorApp/ImsSrc/devIM483PL.cc index 425e19f2..4a8baecf 100644 --- a/motorApp/ImsSrc/devIM483PL.cc +++ b/motorApp/ImsSrc/devIM483PL.cc @@ -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: diff --git a/motorApp/ImsSrc/devMDrive.cc b/motorApp/ImsSrc/devMDrive.cc index 4f9c65fb..6e3e4399 100644 --- a/motorApp/ImsSrc/devMDrive.cc +++ b/motorApp/ImsSrc/devMDrive.cc @@ -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 @@ -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: