lin-epics-modules/motorBase
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Jen Eden's readPositions patch.

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This commit is contained in:
Ron Sluiter
2012-10-12 15:18:11 +00:00
parent 194e3d54da
commit d4e79a4f94
1 changed files with 8 additions and 0 deletions
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motorApp/OmsAsynSrc/omsBaseController.cpp
+8
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@@ -340,6 +340,8 @@ asynStatus omsBaseController::writeFloat64(asynUser *pasynUser, epicsFloat64 val
status = sendReplace(pAxis, inputBuffer);
}
}
/*
* Encoder Mode is currently not supported in motor record
else if (function == motorEncoderRatio_) {
int haveEncoder;
getIntegerParam(pAxis->axisNo_, motorStatusHasEncoder_, &haveEncoder);
@@ -351,6 +353,7 @@ asynStatus omsBaseController::writeFloat64(asynUser *pasynUser, epicsFloat64 val
status = sendReplace(pAxis, inputBuffer);
}
}
*/
else if ((function == motorResolution_) || (function == motorLowLimit_) || (function == motorHighLimit_)) {
// we do nothing
status = asynSuccess;
@@ -448,6 +451,7 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){
int totalAxes;
char axisChrArr[OMS_MAX_AXES] = {'X','Y','Z','T','U','V','R','S'};
char outputBuffer[10];
epicsInt32 axisPosArr[OMS_MAX_AXES];
/* Interrupt clear */
sendOnlyLock("IC;");
@@ -544,6 +548,10 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){
errlogPrintf("omsBaseController:Init: error: unknown limit true state!\n");
}
if (getAxesPositions(axisPosArr) == asynSuccess){
for (int axis=0; axis < numAxes; axis++)
(pAxes[axis])->setDoubleParam(motorPosition_, (double) axisPosArr[axis]);
}
unlock();
return asynSuccess;
}