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Worked on support for profile moves

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This commit is contained in:
MarkRivers
2011-04-05 22:47:12 +00:00
parent 8e434d2bb3
commit e4ed2514b7
1 changed files with 13 additions and 13 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+13 -13
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@@ -134,7 +134,7 @@ XPSAxis::XPSAxis(XPSController *pC, int axisNo, const char *positionerName, doub
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
static const char *functionName = "XPSAxis::XPSAxis";
static const char *functionName = "XPSAxis";
char *index;
int status;
double minJerkTime, maxJerkTime;
@@ -202,7 +202,7 @@ asynStatus XPSAxis::move(double position, int relative, double min_velocity, dou
double deviceUnits;
int status;
double minJerk, maxJerk;
static const char *functionName = "XPSAxis::move";
static const char *functionName = "move";
pC_->getDoubleParam(axisNo_, pC_->XPSMinJerk_, &minJerk);
pC_->getDoubleParam(axisNo_, pC_->XPSMaxJerk_, &maxJerk);
@@ -282,7 +282,7 @@ asynStatus XPSAxis::home(double min_velocity, double max_velocity, double accele
int status;
int groupStatus;
char errorBuffer[100];
static const char *functionName = "XPSAxis::home";
static const char *functionName = "home";
status = GroupStatusGet(pollSocket_, groupName_, &groupStatus);
/* The XPS won't allow a home command if the group is in the Ready state
@@ -323,7 +323,7 @@ asynStatus XPSAxis::moveVelocity(double min_velocity, double max_velocity, doubl
{
int status;
double deviceVelocity, deviceAcceleration;
static const char *functionName = "XPSAxis::moveVelocity";
static const char *functionName = "moveVelocity";
status = GroupJogModeEnable(pollSocket_, groupName_);
if (status) {
@@ -352,7 +352,7 @@ asynStatus XPSAxis::setPosition(double position)
int axisIndexInGrp;
int axesInGroup;
double positions[XPS_MAX_AXES];
static const char *functionName = "XPSAxis::setPosition";
static const char *functionName = "setPosition";
/* If the user has disabled setting the controller position, skip this.*/
@@ -511,7 +511,7 @@ asynStatus XPSAxis::poll(int *moving)
int status;
int axisDone;
double actualVelocity, theoryVelocity, acceleration;
static const char *functionName = "XPSAxis::poll";
static const char *functionName = "poll";
status = GroupStatusGet(pollSocket_,
groupName_,
@@ -694,7 +694,7 @@ asynStatus XPSAxis::setPID(const double * value, int pidoption)
{
int status = 0;
char correctorType[250] = {'\0'};
static const char *functionName = "XPSAxis::setPID";
static const char *functionName = "setPID";
/*The XPS function that we use to set the PID parameters is dependant on the
type of corrector in use for that axis.*/
@@ -810,7 +810,7 @@ asynStatus XPSAxis::getPID()
{
int status = 0;
char correctorType[250] = {'\0'};
static const char *functionName = "XPSAxis::getPID";
static const char *functionName = "getPID";
/* The XPS function that we use to set the PID parameters is dependant on the
type of corrector in use for that axis.*/
@@ -882,7 +882,7 @@ asynStatus XPSAxis::getPID()
*/
asynStatus XPSAxis::setPIDValue(const double * value, int pidoption)
{
static const char *functionName = "XPSAxis::setPIDValue";
static const char *functionName = "setPIDValue";
if ((pidoption < 0) || (pidoption > 2)) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
@@ -1112,11 +1112,11 @@ asynStatus XPSAxis::PositionerCorrectorPIDDualFFVoltageSet()
* \param[in] positions Array of profile positions for this axis in user units.
* \param[in] numPoints The number of positions in the array.
*/
asynStatus XPSAxis::defineProfile(double *positions, int numPoints)
asynStatus XPSAxis::defineProfile(double *positions, size_t numPoints)
{
int i;
size_t i;
asynStatus status;
// static const char *functionName = "asynMotorController::buildProfile";
//static const char *functionName = "defineProfile";
// Call the base class function
status = asynMotorAxis::defineProfile(positions, numPoints);
@@ -1124,7 +1124,7 @@ asynStatus XPSAxis::defineProfile(double *positions, int numPoints)
// Convert to XPS units from steps
for (i=0; i<numPoints; i++) {
profilePositions_[i] = profilePositions_[i]/stepSize_;
profilePositions_[i] = profilePositions_[i]*stepSize_;
}
return asynSuccess;
}