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Set motorAxisHasEncoder based on CfgFbkPosType parameter.

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Ron Sluiter
2010-06-03 16:02:24 +00:00
parent d4c96a103d
commit d28f694a5f
1 changed files with 12 additions and 1 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+12 -1
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@@ -40,6 +40,7 @@ in file LICENSE that is included with this distribution.
* error check that pController is not Null.
* - changed EOT LS read status from AXISFAULT to AXISSTATUS so
* LS status can be monitored independent of fault status.
* .08 06-03-10 rls - Set motorAxisHasEncoder based on CfgFbkPosType parameter.
*/
@@ -905,10 +906,20 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->homeDirection = atoi(&inputBuff[1]);
numAxesFound++;
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_LimitLevelMask); /* */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_LimitLevelMask);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->swconfig.All = atoi(&inputBuff[1]);
/* Determine if encoder present based on open/closed loop mode. */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_CfgFbkPosType);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
{
if (atoi(&inputBuff[1]) > 0)
motorParam->setInteger(pAxis->params, motorAxisHasEncoder, 1);
}
}
}