lin-epics-modules/motorBase
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Implement the jog functionality with the move method, rather than duplicating code.

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This commit is contained in:
kpetersn
2018-03-23 15:29:15 -05:00
parent 2d3dc8abfa
commit db987bd349
1 changed files with 5 additions and 17 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+5 -17
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@@ -634,7 +634,7 @@ asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceler
asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
int velo, distance, move_bit;
int velo, distance;
static const char *functionName = "ANF2Axis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
@@ -643,27 +643,16 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
velo = NINT(fabs(maxVelocity));
status = sendAccelAndVelocity(acceleration, velo);
/* ANF2 does not have jog command. Move 1 million steps */
distance = 1000000;
if (maxVelocity > 0.) {
/* This is a positive move in ANF2 coordinates */
//printf(" ** relative move (JOG pos) called\n");
distance = 1000000;
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x2;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
//printf(" ** relative move (JOG pos) called\n");
status = move(distance, 0, minVelocity, velo, acceleration);
} else {
/* This is a negative move in ANF2 coordinates */
//printf(" ** relative move (JOG neg) called\n");
distance = -1000000;
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x2;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
status = move((distance * -1.0), 0, minVelocity, velo, acceleration);
}
// Delay the first status read, give the controller some time to return moving status
epicsThreadSleep(0.05);
@@ -697,7 +686,6 @@ asynStatus ANF2Axis::stop(double acceleration)
asynStatus ANF2Axis::setPosition(double position)
{
asynStatus status;
int set_bit;
epicsInt32 set_position;
epicsInt32 posReg[5];
//static const char *functionName = "ANF2Axis::setPosition";