lin-epics-modules/motorBase
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Added methods to set KP, KI, LF

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MarkRivers
2013-04-16 22:59:39 +00:00
parent 9be3b9c2ee
commit e5bed3c73e
1 changed files with 35 additions and 0 deletions
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motorApp/NewportSrc/AG_CONEX.cpp
+35
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@@ -25,6 +25,9 @@ April 11, 2013
#define AGILIS_TIMEOUT 2.0
#define LINUX_WRITE_DELAY 0.1
#define MAX_CONEX_KP 3000. // Proportional gain
#define MAX_CONEX_KI 3000. // Integral gain
#define MAX_CONEX_LF 1000. // Low-pass filter frequency
/** Creates a new AG_CONEXController object.
* \param[in] portName The name of the asyn port that will be created for this driver
@@ -268,7 +271,39 @@ asynStatus AG_CONEXAxis::setClosedLoop(bool closedLoop)
return status;
}
asynStatus AG_CONEXAxis::setPGain(double pGain)
{
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::setPGain";
// The pGain value from the motor record is between 0 and 1.
sprintf(pC_->outString_, "%dKP%f", pC_->controllerID_, pGain*MAX_CONEX_KP);
status = pC_->writeAgilis();
return status;
}
asynStatus AG_CONEXAxis::setIGain(double iGain)
{
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::setIGain";
// The iGain value from the motor record is between 0 and 1.
sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, iGain*MAX_CONEX_KI);
status = pC_->writeAgilis();
return status;
}
asynStatus AG_CONEXAxis::setDGain(double dGain)
{
asynStatus status;
//static const char *functionName = "AG_CONEXAxis::setPGain";
// We are using the DGain for the Low pass filter frequency.
// DGain value is between 0 and 1
sprintf(pC_->outString_, "%dLF%f", pC_->controllerID_, dGain*MAX_CONEX_LF);
status = pC_->writeAgilis();
return status;
}
/** Polls the axis.
* This function reads the motor position, the limit status, the home status, the moving status,