lin-epics-modules/motorBase
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debug can read velocities and accelerations for all motors

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timmmooney
2011-03-23 21:38:08 +00:00
parent 76056b4ca2
commit f154206629
1 changed files with 19 additions and 5 deletions
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motorApp/OmsSrc/MAX_trajectoryScan.st
+19 -5
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@@ -517,7 +517,7 @@ ss maxTrajectoryScan {
posTheory += motorStart[j];
}
dpos = motorCurrent[j] - posTheory;
if (debugLevel >= 3) printf(" wait_execute: actual=%.2f, ideal=%.2f, err=%.2f\n",
if (debugLevel >= 4) printf("\n wait_execute: actual=%.2f, ideal=%.2f, err=%.2f\n",
motorCurrent[j], posTheory, dpos);
/* dp/dt */
v = (motorReadbacks[j][currPulse] - motorReadbacks[j][currPulse-1]) /
@@ -790,6 +790,7 @@ static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos, epic
int dir;
epicsTimeStamp currtime;
char vBuf[MAX_MESSAGE_STRING], aBuf[MAX_MESSAGE_STRING];
static char vcmd[10]="VRV[1];", acmd[10]="VRC[1];";
MAXV_getPositions(pVar->cardNumber, rawP, pVar->numAxes);
@@ -802,10 +803,23 @@ static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos, epic
}
if ((pVar->execState == EXECUTE_STATE_EXECUTING) && (pVar->debugLevel >= 2)) {
writeRead(ssId, pVar, "VRV[1];", vBuf);
writeRead(ssId, pVar, "VRC[1];", aBuf);
printf("\ndt=%6.3f, p=%7d, v=%7.0f, a=%7.0f",
*dt, rawP[0], atof(&(vBuf[1])), atof(&(aBuf[1])));
if (pVar->debugLevel >= 3) {
printf("\n%6.3fs: ", *dt);
for (j=0; j<pVar->numAxes; j++) {
if (pVar->moveAxis[j]) {
vcmd[4] = (char)(j+1 + '0');
writeRead(ssId, pVar, vcmd, vBuf);
acmd[4] = (char)(j+1 + '0');
writeRead(ssId, pVar, acmd, aBuf);
printf("(%7d, %7.0f, %7.0f) ", rawP[j], atof(&(vBuf[1])), atof(&(aBuf[1])));
}
}
} else {
writeRead(ssId, pVar, "VRV[1];", vBuf);
writeRead(ssId, pVar, "VRC[1];", aBuf);
printf("\ndt=%6.3f, p=%7d, v=%7.0f, a=%7.0f",
*dt, rawP[0], atof(&(vBuf[1])), atof(&(aBuf[1])));
}
if (pVar->debugLevel >= 10) printf("\n");
} else if (pVar->debugLevel >= 1) {
printf("\ndt=%6.3f, p=%7d", *dt, rawP[0]);