forked from epics_driver_modules/motorBase
Torsten Bögershausen
532afdc5a0
They have no meaning in Git, are not updated and may cause unwanted diffs when otherwise nothing is changed in a file
82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/*
|
|
FILENAME... PIHexapodController.cpp
|
|
|
|
*************************************************************************
|
|
* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
|
|
* This file is distributed subject to the EPICS Open License Agreement
|
|
* found in the file LICENSE that is included with this distribution.
|
|
*************************************************************************
|
|
|
|
|
|
Original Author: Steffen Rau
|
|
*/
|
|
|
|
#include "PIGCS2_HexapodController.h"
|
|
#include "PIasynAxis.h"
|
|
#include "PIInterface.h"
|
|
#include <stdlib.h>
|
|
#include <math.h>
|
|
#include <epicsThread.h>
|
|
|
|
//#undef asynPrint
|
|
//#define asynPrint(user,reason,format...) 0
|
|
|
|
/**
|
|
* get velocity of axis in physical units (EGU) as defined on the controller
|
|
* and set PIasynAxis::m_velocity
|
|
* For GCS2 Hexapods this is the platform velocity read with VLS
|
|
*/
|
|
asynStatus PIGCS2_HexapodController::getAxisVelocity(PIasynAxis* pAxis)
|
|
{
|
|
char buf[255];
|
|
asynStatus status = m_pInterface->sendAndReceive("VLS?", buf, 99);
|
|
if (status != asynSuccess)
|
|
{
|
|
return status;
|
|
}
|
|
if (!getValue(buf, pAxis->m_velocity))
|
|
{
|
|
status = asynError;
|
|
}
|
|
return status;
|
|
}
|
|
|
|
asynStatus PIGCS2_HexapodController::setVelocityCts( PIasynAxis* pAxis, double velocity )
|
|
{
|
|
char cmd[100];
|
|
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
|
|
sprintf(cmd,"VLS %f", velocity);
|
|
asynStatus status = m_pInterface->sendOnly(cmd);
|
|
if (asynSuccess == status)
|
|
{
|
|
pAxis->m_velocity = velocity;
|
|
}
|
|
return status;
|
|
}
|
|
|
|
|
|
asynStatus PIGCS2_HexapodController::referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards)
|
|
{
|
|
asynStatus status = setServo(pAxis, 1);
|
|
if (asynSuccess != status)
|
|
return status;
|
|
|
|
// velocity is ignored!
|
|
char cmd[100];
|
|
sprintf(cmd,"FRF %s", pAxis->m_szAxisName);
|
|
status = m_pInterface->sendOnly(cmd);
|
|
if (asynSuccess != status)
|
|
return status;
|
|
int errorCode = getGCSError();
|
|
if (errorCode == 0)
|
|
{
|
|
return asynSuccess;
|
|
}
|
|
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
|
|
"PIGCS2_HexapodController::referenceVelCts() failed\n");
|
|
epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
|
|
"PIGCS2_HexapodController::referenceVelCts() failed - GCS Error %d\n",errorCode);
|
|
return asynError;
|
|
|
|
}
|