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Added limit polarity argument to MVP2001Axis

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kmpeters
2013-09-13 15:43:19 +00:00
parent c7afb8d37d
commit eeadbad5bf
2 changed files with 22 additions and 8 deletions
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motorApp/MicroMoSrc/MVP2001Driver.cpp
+20 -7
View File
@@ -155,7 +155,7 @@ void MVP2001Controller::parseReply(char *inString, int *val, int nchars)
*
* Initializes register numbers, etc.
*/
MVP2001Axis::MVP2001Axis(MVP2001Controller *pC, int axisNo, int encLPR, int maxCurr)
MVP2001Axis::MVP2001Axis(MVP2001Controller *pC, int axisNo, int encLPR, int maxCurr, int limPol)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
@@ -163,13 +163,23 @@ MVP2001Axis::MVP2001Axis(MVP2001Controller *pC, int axisNo, int encLPR, int maxC
axisIndex_ = axisNo + 1;
encoderLinesPerRev_ = encLPR;
// The MVP2001 manual implies that the range is 0.1-2.3A is ok
if ( (maxCurr < 100) || maxCurr > 2300 )
maxCurrent_ = 100;
else
maxCurrent_ = maxCurr;
// Default to NO if a bad value is given (1=NO, 0=NC)
if ( limPol != 0 )
limitPolarity_ = 1;
else
limitPolarity_ = 0;
// Set the limit & estop polarity
sprintf(pC_->outString_, "%d LP %d", axisIndex_, limitPolarity_);
status = pC_->writeController();
// Home the motor (this zeroes the position, which will be restored by autosave at iocInit)
sprintf(pC_->outString_, "%d HO", axisIndex_);
status = pC_->writeController();
@@ -195,7 +205,7 @@ MVP2001Axis::MVP2001Axis(MVP2001Controller *pC, int axisNo, int encLPR, int maxC
}
extern "C" int MVP2001CreateAxis(const char *MVP2001Name, int axisNo, int encLPR, int maxCurr)
extern "C" int MVP2001CreateAxis(const char *MVP2001Name, int axisNo, int encLPR, int maxCurr, int limPol)
{
MVP2001Controller *pC;
@@ -207,7 +217,7 @@ extern "C" int MVP2001CreateAxis(const char *MVP2001Name, int axisNo, int encLPR
}
pC->lock();
new MVP2001Axis(pC, axisNo, encLPR, maxCurr);
new MVP2001Axis(pC, axisNo, encLPR, maxCurr, limPol);
pC->unlock();
return asynSuccess;
}
@@ -227,6 +237,7 @@ void MVP2001Axis::report(FILE *fp, int level)
fprintf(fp, " encoderLinesPerRev %d\n", encoderLinesPerRev_);
fprintf(fp, " maxCurrent %d (mA)\n", maxCurrent_);
fprintf(fp, " samplePeriod %d (us)\n", samplePeriod_);
fprintf(fp, " limitPolarity %d\n", limitPolarity_);
}
// Call the base class method
@@ -494,14 +505,16 @@ static const iocshArg MVP2001CreateAxisArg0 = {"Controller port name", iocshArgS
static const iocshArg MVP2001CreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg MVP2001CreateAxisArg2 = {"Encoder lines per rev", iocshArgInt};
static const iocshArg MVP2001CreateAxisArg3 = {"Max current (ma)", iocshArgInt};
static const iocshArg MVP2001CreateAxisArg4 = {"Limit polarity", iocshArgInt};
static const iocshArg * const MVP2001CreateAxisArgs[] = {&MVP2001CreateAxisArg0,
&MVP2001CreateAxisArg1,
&MVP2001CreateAxisArg2,
&MVP2001CreateAxisArg3};
static const iocshFuncDef MVP2001CreateAxisDef = {"MVP2001CreateAxis", 4, MVP2001CreateAxisArgs};
&MVP2001CreateAxisArg3,
&MVP2001CreateAxisArg4};
static const iocshFuncDef MVP2001CreateAxisDef = {"MVP2001CreateAxis", 5, MVP2001CreateAxisArgs};
static void MVP2001CreateAxisCallFunc(const iocshArgBuf *args)
{
MVP2001CreateAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival);
MVP2001CreateAxis(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival);
}
static void MVP2001Register(void)
motorApp/MicroMoSrc/MVP2001Driver.h
+2 -1
View File
@@ -20,7 +20,7 @@ class MVP2001Axis : public asynMotorAxis
{
public:
/* These are the methods we override from the base class */
MVP2001Axis(class MVP2001Controller *pC, int axisNo, int encLPR, int maxCurr);
MVP2001Axis(class MVP2001Controller *pC, int axisNo, int encLPR, int maxCurr, int limPol);
void report(FILE *fp, int level);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -41,6 +41,7 @@ private:
int encoderLinesPerRev_;
int maxCurrent_;
int samplePeriod_;
int limitPolarity_;
asynStatus sendAccelAndVelocity(double accel, double velocity);
friend class MVP2001Controller;