lin-epics-modules/motorBase
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Converting from AG_UC to CONEX

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This commit is contained in:
MarkRivers
2013-04-15 23:54:38 +00:00
parent 6fbcd60891
commit d6927e36d5
1 changed files with 13 additions and 22 deletions
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motorApp/NewportSrc/AG_CONEX.cpp
+13 -22
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@@ -121,7 +121,7 @@ asynStatus AG_CONEXController::writeAgilis(const char *output, double timeout)
void AG_CONEXController::report(FILE *fp, int level)
{
fprintf(fp, "Agilis CONEX motor driver %s, controllerID=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, cointrollerID_, movingPollPeriod_, idlePollPeriod_);
this->portName, controllerID_, movingPollPeriod_, idlePollPeriod_);
// Call the base class method
asynMotorController::report(fp, level);
@@ -158,7 +158,7 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
currentPosition_(0), positionOffset_(0)
{
sprintf(pC_->outString_, "%dSU?", pC->controllerID_);
pC_->writeReadAgilis();
pC_->writeReadController();
}
/** Reports on status of the axis
@@ -170,8 +170,8 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
void AG_CONEXAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " axis %d, hasLimits=%d, forwardAmplitude=%d, reverseAmplitude=%d\n",
axisID_, hasLimits_, forwardAmplitude_, reverseAmplitude_);
fprintf(fp, " encoderIncrement=%f\n",
encoderIncrement_);
}
// Call the base class method
@@ -185,10 +185,10 @@ asynStatus AG_CONEXAxis::move(double position, int relative, double minVelocity,
// static const char *functionName = "AG_CONEXAxis::move";
if (relative) {
sprintf(pC_->outString_, "%dPR%d", axisID_, steps);
sprintf(pC_->outString_, "%dPR%d", pC_->controllerID_, steps);
} else {
steps = NINT(position - currentPosition_);
sprintf(pC_->outString_, "%dPR%d", axisID_, steps);
sprintf(pC_->outString_, "%dPR%d", pC_->controllerID_, steps);
}
status = pC_->writeAgilis();
return status;
@@ -199,7 +199,7 @@ asynStatus AG_CONEXAxis::home(double minVelocity, double maxVelocity, double acc
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::home";
sprintf(pC_->outString_, "%dOR, pC_->controllerID_);
sprintf(pC_->outString_, "%dOR", pC_->controllerID_);
status = pC_->writeAgilis();
return status;
}
@@ -209,7 +209,7 @@ asynStatus AG_CONEXAxis::moveVelocity(double minVelocity, double maxVelocity, do
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::moveVelocity";
sprintf(pC_->outString_, "%dJA%d", axisID_, velocityToSpeedCode(maxVelocity));
sprintf(pC_->outString_, "%dJA", pC_->controllerID_);
status = pC_->writeAgilis();
return status;
}
@@ -219,7 +219,7 @@ asynStatus AG_CONEXAxis::stop(double acceleration )
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::stop";
sprintf(pC_->outString_, "%dST", axisID_);
sprintf(pC_->outString_, "%dST", pC_->controllerID_);
status = pC_->writeAgilis();
return status;
}
@@ -241,12 +241,11 @@ asynStatus AG_CONEXAxis::setPosition(double position)
asynStatus AG_CONEXAxis::poll(bool *moving)
{
int done;
int lim, limit=0;
int position;
asynStatus comStatus;
// Read the current motor position
sprintf(pC_->outString_, "%dTP", axisID_);
sprintf(pC_->outString_, "%dTP", pC_->controllerID_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "1TPxxx"
@@ -255,7 +254,7 @@ asynStatus AG_CONEXAxis::poll(bool *moving)
setDoubleParam(pC_->motorPosition_, double(currentPosition_));
// Read the moving status of this motor
sprintf(pC_->outString_, "%dTS", axisID_);
sprintf(pC_->outString_, "%dTS", pC_->controllerID_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "1TSn"
@@ -263,16 +262,8 @@ asynStatus AG_CONEXAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
// Read the limit status
sprintf(pC_->outString_, "PH");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "PHn"
lim = atoi(&pC_->inString_[2]);
if ((axisID_ == 1) && (lim == 1 || lim == 3)) limit = 1;
if ((axisID_ == 2) && (lim == 3 || lim == 3)) limit = 1;
setIntegerParam(pC_->motorStatusLowLimit_, limit);
setIntegerParam(pC_->motorStatusHighLimit_, limit);
setIntegerParam(pC_->motorStatusLowLimit_, 0);
setIntegerParam(pC_->motorStatusHighLimit_, 0);
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);