100daf7036
Motor driver for the xHuber SMC9300, courtesy of Dongliang Yang (noya269@126.com). This is an improved version of what Dongliang provided. In particular SMC9300Axis::poll - add a new parameter for the messge text that comes from the controller - parse pC_->inString_ using sscanf and check that the reply has all the expected parameters - make usre that the whole poll is executed. For some reason the original version did not update the position during the movement
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/*
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FILENAME... SMC9300Driver.h
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USAGE... Motor driver support for the HUBER SMC9300 controller.
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Yang Dongliang
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March 1, 2020
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*/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#define MAX_SMC9300_AXES 4
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// No controller-specific parameters yet
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#define NUM_SMC9300_PARAMS 0
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#define motorMessageTextString "MOTOR_MESSAGE_TEXT"
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class epicsShareClass SMC9300Axis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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SMC9300Axis(class SMC9300Controller *pC, int axis);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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asynStatus getAxisInitialStatus(void);
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protected:
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SMC9300Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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// asynStatus sendAccelAndVelocity(double accel, double velocity);
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asynStatus updateMsgTxtFromDriver(const char *value);
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friend class SMC9300Controller;
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};
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class epicsShareClass SMC9300Controller : public asynMotorController {
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public:
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SMC9300Controller(const char *portName, const char *SMC9300PortName, int numAxes, double movingPollPeriod, double idlePollPeriod, const int &extraParams );
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void report(FILE *fp, int level);
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SMC9300Axis* getAxis(asynUser *pasynUser);
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SMC9300Axis* getAxis(int axisNo);
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protected:
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int motorMessageText_;
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friend class SMC9300Axis;
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};
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