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- Jog velocity and acceleration command support.

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Ron Sluiter
2001-05-14 20:50:54 +00:00
parent 05fb919171
commit fc3f629fbe
1 changed files with 17 additions and 13 deletions
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motorApp/OmsSrc/devOmsCom.c
+17 -13
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.c
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-06-14 16:23:49 $
Last Modified: $Date: 2001-05-14 20:50:54 $
*/
/*
@@ -36,11 +36,14 @@ Last Modified: $Date: 2000-06-14 16:23:49 $
*
* Modification Log:
* -----------------
* .01 01-18-93 jbk initialized
* .02 11-14-94 jps copy devOMS.c and modify to point to vme58 driver
* .03 03-19-96 tmm v1.10: modified encoder-ratio calculation
* .04 06-20-96 jps allow for bumpless-reboot on position
* .04a 02-19-97 tmm fixed for EPICS 3.13
* .01 01-18-93 jbk initialized
* .02 11-14-94 jps copy devOMS.c and modify to point to vme58 driver
* .03 03-19-96 tmm v1.10: modified encoder-ratio calculation
* .04 06-20-96 jps allow for bumpless-reboot on position
* .04a 02-19-97 tmm fixed for EPICS 3.13
* .05 05-14-01 rls Support for jog velocity and acceleration commands.
* Added "CA" to home and jog commands so JVEL does not
* see done flag from previous operation.
*/
#include <vxWorks.h>
@@ -52,11 +55,11 @@ Last Modified: $Date: 2000-06-14 16:23:49 $
#include "motor.h"
#include "motordevCom.h"
/* Command set used by record support. WARNING! this must match
"motor_cmnds" in motor.h .
/*
Command set used by record support. WARNING! this must match "motor_cmnd" in
motor.h
*/
struct motor_table
{
unsigned char type;
@@ -68,8 +71,8 @@ struct motor_table const oms_table[] =
{
{MOTION, " MA", 1}, /* MOVE_ABS */
{MOTION, " MR", 1}, /* MOVE_REL */
{MOTION, " HM", 1}, /* HOME_FOR */
{MOTION, " HR", 1}, /* HOME_REV */
{MOTION, " CA HM", 1}, /* HOME_FOR */
{MOTION, " CA HR", 1}, /* HOME_REV */
{IMMEDIATE, " LP", 1}, /* LOAD_POS */
{IMMEDIATE, " VB", 1}, /* SET_VELO_BASE */
{IMMEDIATE, " VL", 1}, /* SET_VELO */
@@ -78,7 +81,7 @@ struct motor_table const oms_table[] =
{IMMEDIATE, " ER", 2}, /* SET_ENC_RATIO */
{INFO, " ", 0}, /* GET_INFO */
{MOVE_TERM, " ST", 0}, /* STOP_AXIS */
{VELOCITY, " JG", 1}, /* JOG */
{VELOCITY, " CA JG", 1}, /* JOG */
{IMMEDIATE," KP", 1}, /* SET_PGAIN */
{IMMEDIATE," KI", 1}, /* SET_IGAIN */
{IMMEDIATE," KD", 1}, /* SET_DGAIN */
@@ -87,6 +90,7 @@ struct motor_table const oms_table[] =
{IMMEDIATE, "", 0}, /* PRIMITIVE */
{IMMEDIATE, "", 0}, /* SET_HIGH_LIMIT */
{IMMEDIATE, "", 0}, /* SET_LOW_LIMIT */
{VELOCITY, " JG", 1}, /* JOG_VELOCITY */
};