forked from epics_driver_modules/motorBase
Keenan Lang
67 lines
1.9 KiB
Lua
67 lines
1.9 KiB
Lua
IdlePollPeriod = 1.0
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MovingPollPeriod = 0.25
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ForcedFastPolls = 2
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InTerminator = "\r\n"
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OutTerminator = "\r\n"
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function sendAccelAndVelocity(minVel, maxVel, accel)
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asyn.writeread( string.format( "%d BAS %f", AXIS + 1, minVel) , PORT);
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asyn.writeread( string.format( "%d VEL %f", AXIS + 1, maxVel) , PORT);
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asyn.writeread( string.format( "%d ACC %f", AXIS + 1, accel ) , PORT);
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end
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function move(position, relative, minVel, maxVel, accel)
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sendAccelAndVelocity( minVel, maxVel, accel)
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if (relative) then
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asyn.writeread( string.format( "%d MR %d", AXIS + 1, math.floor(position) ) , PORT)
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else
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asyn.writeread( string.format( "%d MV %d", AXIS + 1, math.floor(position) ) , PORT)
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end
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end
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function moveVelocity(minVel, maxVel, accel)
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sendAccelAndVelocity( minVel, maxVel, accel)
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asyn.writeread( string.format( "%d JOG %f", AXIS + 1, maxVel) , PORT);
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end
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function poll()
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asyn.write( string.format( "%d POS?", AXIS + 1) , PORT)
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asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", tonumber( asyn.read(PORT) ) )
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asyn.write( string.format( "%d ST?", AXIS + 1) , PORT)
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local status = tonumber( asyn.read(PORT) )
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local direction = (status & 1)
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local done = (status & 2) >> 1
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local limit_high = (status & 8) >> 3
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local limit_low = (status & 16) >> 4
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", direction)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", done ~ 1)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_HIGH_LIMIT", limit_high)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_LOW_LIMIT", limit_low)
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asyn.callParamCallbacks(DRIVER, AXIS)
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return (done ~= 1)
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end
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function stop(acceleration)
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asyn.writeread( string.format( "%d AB", AXIS + 1) , PORT);
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end
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function setPosition(position)
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asyn.writeread( string.format( "%d POS %d", AXIS + 1, math.floor(position) ) , PORT);
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end
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