lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

In order to support SCURVE trajectories; changed from MOVE[ABS/INC] to LINEAR move command.

Browse Source
This commit is contained in:
Ron Sluiter
2011-12-01 18:23:53 +00:00
parent 910c5e350f
commit fbd552c62b
1 changed files with 20 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/AerotechSrc/drvEnsembleAsyn.cc
+20 -10
View File
@@ -54,6 +54,8 @@ in file LICENSE that is included with this distribution.
* from raw units to Ensemble user units when the
* PosScaleFactor parameter is not 1.
* .12 11-30-11 rls - Ensemble 4.x compatibility.
* - In order to support SCURVE trajectories; changed from
* MOVE[ABS/INC] to LINEAR move command.
*/
@@ -468,7 +470,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
posdir = true;
else
posdir = false;
moveCommand = "MOVEINC";
moveCommand = "INC";
}
else
{
@@ -476,18 +478,22 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
posdir = true;
else
posdir = false;
moveCommand = "MOVEABS";
moveCommand = "ABS";
}
sprintf(outputBuff, "%s", moveCommand);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status)
return (MOTOR_AXIS_ERROR);
if (acceleration > 0)
{ /* only use the acceleration if > 0 */
sprintf(outputBuff, "RAMP RATE @%d %.*f", axis, maxDigits, acceleration * fabs(pAxis->stepSize));
sprintf(outputBuff, "RAMP RATE %.*f", maxDigits, acceleration * fabs(pAxis->stepSize));
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
}
sprintf(outputBuff, "%s @%d %.*f @%dF%.*f", moveCommand, axis, maxDigits,
position * fabs(pAxis->stepSize), axis, maxDigits,
max_velocity * fabs(pAxis->stepSize));
sprintf(outputBuff, "LINEAR @%d %.*f F%.*f", axis, maxDigits, position * fabs(pAxis->stepSize),
maxDigits, max_velocity * fabs(pAxis->stepSize));
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status)
@@ -687,13 +693,17 @@ static void EnsemblePoller(EnsembleController *pController)
}
else
{
int CW_sw_active, CCW_sw_active;
int CW_sw_active, CCW_sw_active, move_active;
motorParam->setInteger(params, motorAxisCommError, 0);
axisStatus.All = atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, !axisStatus.Bits.move_active);
if (axisStatus.Bits.move_active)
comStatus = sendAndReceive(pController, (char *) "PLANESTATUS(0)", inputBuff, sizeof(inputBuff));
move_active = 0x01 & atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, !move_active);
if (move_active)
anyMoving = true;
motorParam->setInteger(pAxis->params, motorAxisPowerOn, axisStatus.Bits.axis_enabled);
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, axisStatus.Bits.home_limit);
if (pAxis->stepSize > 0.0)
@@ -933,7 +943,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->swconfig.All = atoi(&inputBuff[1]);
/* Prevent ASCII interpreter from blocking during MOVEABS/INC commands. */
sendAndReceive(pController, "WAIT MODE NOWAIT", inputBuff, sizeof(inputBuff));
sendAndReceive(pController, (char *) "WAIT MODE NOWAIT", inputBuff, sizeof(inputBuff));
/* Set RAMP MODE to RATE. */
sprintf(outputBuff, "RAMP MODE @%d RATE", axis);