 Kevin Peterson
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ed95506bb1
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Fix for building on Windows
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2018-04-19 11:09:28 -05:00 |
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kpetersn
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c5316018b9
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Only require user to specify numAxes so any combination of controller modules can be used.
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2018-04-18 14:41:19 -05:00 |
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kpetersn
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dad0f34037
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Print somewhat helpful info in asyn traces.
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2018-04-17 16:51:53 -05:00 |
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kpetersn
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a46564cc3c
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Initialize parameters to avoid asynTraceFlow errors.
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2018-04-09 14:41:31 -05:00 |
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kpetersn
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2e49fb473d
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Removed unused getInfo() calls.
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2018-04-09 13:25:40 -05:00 |
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kpetersn
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9b6764b0e0
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Removed reconfig funcationlity (only useful for testing as written).
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2018-04-09 13:20:58 -05:00 |
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kpetersn
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16141699d8
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Improved report output
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2018-04-09 13:07:47 -05:00 |
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kpetersn
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8f05579e82
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Cleaned up the code somewhat
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2018-04-09 11:29:56 -05:00 |
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kpetersn
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14bb36e0aa
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Read and set the direction. Read and clear command errors. Only set the limit if moving in that direction (doesn't solve the problem of being unable to absolute-move off a limit--jogging works though).
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2018-03-29 16:28:18 -05:00 |
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kpetersn
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f1aefccbeb
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Added comments about homing
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2018-03-29 10:48:42 -05:00 |
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kpetersn
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d760620579
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Allow errors to be reset via a PV.
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2018-03-28 11:02:33 -05:00 |
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kpetersn
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c6a2b4ee0b
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Also allow UEIP=Yes when Diagnostic Feedback is used.
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2018-03-28 10:43:29 -05:00 |
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kpetersn
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9e0b87ee74
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Implement jogging using the actual jog command. Stopping a jog is different than a normal move, so the stop method had to get smarter. Removed the extra call to base class's writeInt32 that was resulting in double stop commands being sent.
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2018-03-28 10:32:30 -05:00 |
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kpetersn
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021228e0e7
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Improved asynReport output
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2018-03-27 17:31:07 -05:00 |
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kpetersn
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860474c1ae
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Be quieter.
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2018-03-27 16:45:42 -05:00 |
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kpetersn
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dbdd1814df
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Enforce controller speed limits. Added an alternate jog implemention that doesn't work well (the ANF2 jog commands appear to require immediate stops, which don't play nicely with subsequent move commands).
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2018-03-27 16:09:41 -05:00 |
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kpetersn
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0f52af42b2
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Also read the encoder position, which isn't helpful with diagnostic feedback.
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2018-03-27 15:15:05 -05:00 |
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kpetersn
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690281fd24
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Correct the acceleration
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2018-03-27 15:08:18 -05:00 |
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kpetersn
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3a231a90ef
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Remove item from todo list
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2018-03-27 14:52:28 -05:00 |
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kpetersn
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35ac98f133
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Specify base speed and homing timeout when configuring axis
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2018-03-27 14:50:36 -05:00 |
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kpetersn
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9c90d24fb8
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Fix for OpMode_
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2018-03-27 14:25:21 -05:00 |
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kpetersn
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a877f4c188
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Parse the config string and store some info about the axes. This can be done better in the future.
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2018-03-27 13:49:12 -05:00 |
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kpetersn
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70d252c44a
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Added writeReg32Array method. Made the default output asyn port use array writes. Eliminated the conf asyn port.
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2018-03-26 15:25:49 -05:00 |
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kpetersn
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dc09abbd14
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Improved report output
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2018-03-23 17:10:07 -05:00 |
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kpetersn
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5f819fb8a1
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Added more todo comments.
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2018-03-23 16:53:26 -05:00 |
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kpetersn
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d8c24ee12b
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Added todo comment
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2018-03-23 16:48:30 -05:00 |
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kpetersn
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6b447ffdc9
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Removed non-array write methods.
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2018-03-23 16:44:03 -05:00 |
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kpetersn
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c70152574c
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Implemented home with array writes. Causes a command error with my test configuration.
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2018-03-23 16:30:15 -05:00 |
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kpetersn
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192b396a99
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Made the setClosedLoop function do nothing. Tried to send the clear command error command,but that caused a command error from which I couldn't recover (presumably reconfiguring the axis would have resolved that problem.
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2018-03-23 16:21:49 -05:00 |
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kpetersn
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3fa5f9fadf
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Added a comment about the jog command
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2018-03-23 15:45:33 -05:00 |
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kpetersn
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be825dd688
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Modified the stop method to use array writes.
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2018-03-23 15:44:35 -05:00 |
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kpetersn
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db987bd349
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Implement the jog functionality with the move method, rather than duplicating code.
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2018-03-23 15:29:15 -05:00 |
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kpetersn
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2d3dc8abfa
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Moved poll periods to poller call. Require numModules and axesPerModule instead of numAxes for the CreateController call.
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2018-03-23 14:09:04 -05:00 |
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kpetersn
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798a7336f5
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Fixed the autosave problem by requiring the poller to be explicitly started after iocInit.
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2018-03-23 11:46:53 -05:00 |
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kpetersn
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079779cf13
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Tried more things that don't fix the autosave problem
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2018-03-22 17:10:10 -05:00 |
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kpetersn
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687cccb554
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Modifed reconfig to accept a position. Use a dedicated array of zeros for clearing controller registers (doesn't solve the failure-to-autosave-every-other-time problem).
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2018-03-22 16:43:26 -05:00 |
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kpetersn
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53b7b23b4a
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Print fewer things
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2018-03-22 15:43:02 -05:00 |
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kpetersn
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6c500efd32
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Added an unsuccessful attempt to get autosave to work.
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2018-03-22 15:39:25 -05:00 |
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kpetersn
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892225f1fc
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Cleaned up the setPosition method
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2018-03-22 15:09:58 -05:00 |
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kpetersn
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11ee7839bb
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Shortened many delays. Don't print as much info at startup.
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2018-03-22 15:05:00 -05:00 |
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kpetersn
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ff2ac7196f
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Added macros for 32-bit registers
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2018-03-22 14:45:02 -05:00 |
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kpetersn
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89cf615600
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Cleaned up some of the code.
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2018-03-22 11:51:04 -05:00 |
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kpetersn
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1fc33f95f9
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Fixed the readReg32 calculation. Don't use registers_ for everything. Added zeroRegisters method.
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2018-03-22 11:33:05 -05:00 |
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kpetersn
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1a4d1756b9
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Corrected the max acceleration/deceleration
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2018-03-21 15:07:55 -05:00 |
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kpetersn
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1f8e9d8a23
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Added a reconfig routine. Corrected nElements after switching to modbus master branch on github.
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2018-03-21 14:58:37 -05:00 |
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kpetersn
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5eef01248c
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Removed configBits
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2018-03-20 14:57:17 -05:00 |
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kpetersn
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758f6fcc8b
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Print more info. Try to write/read registers for axis 2 (currently doesn't work properly).
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2018-03-20 13:47:56 -05:00 |
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kpetersn
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fae911bc35
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Uncommented lines that zeroed the command register before a move (required for every move after the first after power-on to succeed)
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2018-03-19 15:33:32 -05:00 |
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kpetersn
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2c269bb69f
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Also set all the registers when setting the position. Allows a single move to succeed after each setPosition call.
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2018-03-16 16:30:06 -05:00 |
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kpetersn
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13ee3d23e4
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Only configure the axis once
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2018-03-16 15:37:30 -05:00 |
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