lin-epics-modules/motorBase
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avoid command error, if new velocity is less than previous base velocity or new base velocity is greater than previous velocity

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This commit is contained in:
Jens Eden
2014-12-17 16:31:53 +00:00
parent bb0926f60b
commit e53a205927
2 changed files with 20 additions and 4 deletions
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motorApp/OmsAsynSrc/omsBaseAxis.cpp
+19 -4
View File
@@ -31,6 +31,7 @@ omsBaseAxis::omsBaseAxis(omsBaseController *pController, int axis, char axisChar
pC_ = pController;
stepper = 1;
invertLimit = 0;
lastminvelo = 0;
}
asynStatus omsBaseAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
@@ -75,7 +76,12 @@ asynStatus omsBaseAxis::move(double position, int relative, double min_velocity,
acc = 1;
/* move to the specified position */
sprintf(buff, "A%1c AC%d; VB%d; VL%d; %s%d; GO ID", axisChar, acc, minvelo, velo, relabs[rela], pos);
if (velo < lastminvelo)
sprintf(buff, "A%1c;AC%d;VB%d;VL%d;%s%d;GO;ID;", axisChar, acc, minvelo, velo, relabs[rela], pos);
else
sprintf(buff, "A%1c;AC%d;VL%d;VB%d;%s%d;GO;ID;", axisChar, acc, velo, minvelo, relabs[rela], pos);
lastminvelo = minvelo;
status = pC_->sendOnlyLock(buff);
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
@@ -92,7 +98,7 @@ asynStatus omsBaseAxis::home(double min_velocity, double max_velocity, double ac
asynStatus status = asynError;
char buff[60];
char *direction[2] = {(char*) "HR", (char*) "HM"};
epicsInt32 velo, acc, fw = 0;
epicsInt32 minvelo, velo, acc, fw = 0;
if (forwards) fw = 1;
@@ -100,14 +106,23 @@ asynStatus omsBaseAxis::home(double min_velocity, double max_velocity, double ac
if (velo < 1) velo = 1;
else if (velo > 1000000) velo = 1000000;
acc = abs((epicsInt32) acceleration);
minvelo = (epicsInt32) (min_velocity + 0.5);
if (minvelo < 0) minvelo = 0;
else if (minvelo >= velo) minvelo = velo - 1;
acc = abs((epicsInt32) acceleration);
if (acc > 8000000)
acc = 8000000;
else if (acc < 1)
acc = 1;
/* do a home run and move to the home position */
sprintf(buff, "A%1c AC%d; VL%d; %s; MA0 GO ID", axisChar, acc, velo, direction[forwards]);
if (velo < lastminvelo)
sprintf(buff, "A%1c;AC%d;VB%d;VL%d;%s;MA0;GO;ID;", axisChar, acc, minvelo, velo, direction[forwards]);
else
sprintf(buff, "A%1c;AC%d;VL%d;VB%d;%s;MA0;GO;ID;", axisChar, acc, velo, minvelo, direction[forwards]);
lastminvelo = minvelo;
status = pC_->sendOnlyLock(buff);
homing = 1;
motorApp/OmsAsynSrc/omsBaseAxis.h
+1
View File
@@ -48,6 +48,7 @@ private:
omsBaseController *pC_;
int stepper;
int invertLimit;
epicsInt32 lastminvelo;
friend class omsBaseController;
};