lin-epics-modules/motorBase
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Changed stepSize_ which was unused to forwardAmplitude_ and reverseAmplitude_

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MarkRivers
2013-04-15 17:31:15 +00:00
parent 05399e3822
commit e1036639b4
1 changed files with 22 additions and 11 deletions
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motorApp/NewportSrc/Agilis.cpp
+22 -11
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@@ -78,7 +78,8 @@ int AgilisCreateController(const char *portName, const char *AgilisPortName, int
asynStatus AgilisCreateAxis(const char *AgilisName, /* specify which controller by port name */
int axis, /* axis number 0-7 */
int hasLimits, /* Actuator has limits 0 or 1 */
int stepSize) /* Pulses per step */
int forwardAmplitude, /* Step amplitude in forward direction */
int reverseAmplitude) /* Step amplitude in reverse direction */
{
AgilisController *pC;
static const char *functionName = "Agilis::AgilisCreateAxis";
@@ -90,7 +91,7 @@ asynStatus AgilisCreateAxis(const char *AgilisName, /* specify which controller
return asynError;
}
pC->lock();
new AgilisAxis(pC, axis, hasLimits ? true:false, stepSize);
new AgilisAxis(pC, axis, hasLimits ? true:false, forwardAmplitude, reverseAmplitude);
pC->unlock();
return asynSuccess;
}
@@ -138,11 +139,19 @@ AgilisAxis* AgilisController::getAxis(int axisNo)
*
* Initializes register numbers, etc.
*/
AgilisAxis::AgilisAxis(AgilisController *pC, int axisNo, bool hasLimits, int stepSize)
AgilisAxis::AgilisAxis(AgilisController *pC, int axisNo, bool hasLimits,
int forwardAmplitude, int reverseAmplitude)
: asynMotorAxis(pC, axisNo),
pC_(pC), hasLimits_(hasLimits), stepSize_(stepSize),
pC_(pC), hasLimits_(hasLimits),
forwardAmplitude_(forwardAmplitude), reverseAmplitude_(reverseAmplitude),
currentPosition_(0), positionOffset_(0), axisID_(axisNo+1)
{
{
if (forwardAmplitude_ <= 0) forwardAmplitude_ = 50;
if (reverseAmplitude_ >= 0) forwardAmplitude_ = -50;
sprintf(pC_->outString_, "%dSU%d", axisID_, forwardAmplitude_);
pC_->writeController();
sprintf(pC_->outString_, "%dSU%d", axisID_, reverseAmplitude_);
pC_->writeController();
}
/** Reports on status of the axis
@@ -154,8 +163,8 @@ AgilisAxis::AgilisAxis(AgilisController *pC, int axisNo, bool hasLimits, int ste
void AgilisAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " axis %d, hasLimits=%d, stepSize=%d\n",
axisID_, hasLimits_, stepSize_);
fprintf(fp, " axis %d, hasLimits=%d, forwardAmplitude=%d, reverseAmplitude=%d\n",
axisID_, hasLimits_, forwardAmplitude_, reverseAmplitude_);
}
// Call the base class method
@@ -295,16 +304,18 @@ static void AgilisCreateContollerCallFunc(const iocshArgBuf *args)
static const iocshArg AgilisCreateAxisArg0 = {"Controller port name", iocshArgString};
static const iocshArg AgilisCreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg AgilisCreateAxisArg2 = {"Has Limits", iocshArgInt};
static const iocshArg AgilisCreateAxisArg3 = {"Step Size", iocshArgString};
static const iocshArg AgilisCreateAxisArg3 = {"Forward amplitude", iocshArgInt};
static const iocshArg AgilisCreateAxisArg4 = {"Reverse amplitude", iocshArgInt};
static const iocshArg * const AgilisCreateAxisArgs[] = {&AgilisCreateAxisArg0,
&AgilisCreateAxisArg1,
&AgilisCreateAxisArg2,
&AgilisCreateAxisArg3};
static const iocshFuncDef AgilisCreateAxisDef = {"AgilisCreateAxis", 4, AgilisCreateAxisArgs};
&AgilisCreateAxisArg3,
&AgilisCreateAxisArg4};
static const iocshFuncDef AgilisCreateAxisDef = {"AgilisCreateAxis", 5, AgilisCreateAxisArgs};
static void AgilisCreateAxisCallFunc(const iocshArgBuf *args)
{
AgilisCreateAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival);
AgilisCreateAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival);
}
static void AgilisRegister(void)