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Fixed problems when the controller had multiple groups

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MarkRivers
2011-09-23 17:15:36 +00:00
parent 271138b101
commit ff50cfcbf7
1 changed files with 13 additions and 7 deletions
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motorApp/NewportSrc/XPSController.cpp
+13 -7
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@@ -600,6 +600,7 @@ asynStatus XPSController::buildProfile()
double minJerkTime, maxJerkTime;
double preTimeMax, postTimeMax;
double preVelocity[XPS_MAX_AXES], postVelocity[XPS_MAX_AXES];
bool inGroup[XPS_MAX_AXES];
double time;
int useAxis[XPS_MAX_AXES];
static const char *functionName = "buildProfile";
@@ -636,10 +637,11 @@ asynStatus XPSController::buildProfile()
preVelocity[j] = 0.;
postVelocity[j] = 0.;
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
inGroup[j] = (strcmp(pAxes_[j]->groupName_, groupName) == 0);
}
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
if (!useAxis[j] || !inGroup[j]) continue;
status = PositionerSGammaParametersGet(pollSocket_, pAxes_[j]->positionerName_,
&maxVelocity, &maxAcceleration,
&minJerkTime, &maxJerkTime);
@@ -685,6 +687,7 @@ asynStatus XPSController::buildProfile()
/* Create the initial acceleration element */
fprintf(trajFile,"%f", preTimeMax);
for (j=0; j<numAxes_; j++) {
if (!inGroup[j]) continue;
fprintf(trajFile,", %f, %f", pAxes_[j]->profilePreDistance_, preVelocity[j]);
}
fprintf(trajFile,"\n");
@@ -697,7 +700,9 @@ asynStatus XPSController::buildProfile()
T1 = profileTimes_[i+1];
else
T1 = T0;
fprintf(trajFile,"%f", profileTimes_[i]);
for (j=0; j<numAxes_; j++) {
if (!inGroup[j]) continue;
D0 = pAxes_[j]->profilePositions_[i+1] -
pAxes_[j]->profilePositions_[i];
if (i < nElements-1)
@@ -705,23 +710,21 @@ asynStatus XPSController::buildProfile()
pAxes_[j]->profilePositions_[i+1];
else
D1 = D0;
/* Average either side of the point */
trajVel = ((D0 + D1) / (T0 + T1));
if (!useAxis[j]) {
D0 = 0.0; /* Axis turned off*/
trajVel = 0.0;
}
if (j == 0) fprintf(trajFile,"%f", profileTimes_[i]);
fprintf(trajFile,", %f, %f",D0,trajVel);
if (j == (numAxes_-1)) fprintf(trajFile,"\n");
}
fprintf(trajFile,"\n");
}
/* Create the final acceleration element. Final velocity must be 0. */
fprintf(trajFile,"%f", postTimeMax);
for (j=0; j<numAxes_; j++) {
if (!inGroup[j]) continue;
fprintf(trajFile,", %f, %f", pAxes_[j]->profilePostDistance_, 0.);
}
fprintf(trajFile,"\n");
@@ -782,6 +785,7 @@ asynStatus XPSController::buildProfile()
/* Read dynamic parameters*/
for (j=0; j<numAxes_; j++) {
if (!inGroup[j]) continue;
maxVelocityActual = 0;
maxAccelerationActual = 0;
status = MultipleAxesPVTVerificationResultGet(pollSocket_,
@@ -880,6 +884,7 @@ asynStatus XPSController::runProfile()
char groupName[MAX_GROUPNAME_LEN];
int eventId;
int useAxis[XPS_MAX_AXES];
bool inGroup[XPS_MAX_AXES];
XPSAxis *pAxis;
static const char *functionName = "runProfile";
@@ -892,6 +897,7 @@ asynStatus XPSController::runProfile()
getIntegerParam(profileNumPulses_, &numPulses);
for (j=0; j<numAxes_; j++) {
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
inGroup[j] = (strcmp(pAxes_[j]->groupName_, groupName) == 0);
}
strcpy(message, " ");
setStringParam(profileExecuteMessage_, message);
@@ -902,7 +908,7 @@ asynStatus XPSController::runProfile()
// Move the motors to the start position
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
if (!useAxis[j] || !inGroup[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[0] - pAxis->profilePreDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,
@@ -1090,7 +1096,7 @@ asynStatus XPSController::runProfile()
// Move the motors to the end position
for (j=0; j<numAxes_; j++) {
if (!useAxis[j]) continue;
if (!useAxis[j] ||!inGroup[j]) continue;
pAxis = getAxis(j);
position = pAxis->profilePositions_[numPoints-1] + pAxis->profilePostDistance_;
status = GroupMoveAbsolute(pAxis->moveSocket_,