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Fixed ErormoveDriver to stop only on end switches when the target

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exceeds the limits. Otherwise motors would get stuck on the switches
when trying to move off them.
This commit is contained in:
koennecke
2022-08-16 10:54:10 +02:00
parent bb1c10c7cd
commit 0cbfe45893
2 changed files with 20 additions and 6 deletions
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25
sinqEPICSApp/src/EuroMoveDriver.cpp
View File

@ -314,6 +314,7 @@ asynStatus EuroMoveAxis::move(double position, int relative, double minVelocity,
sprintf(command,"G%d=%d", motNo, (int)position);
status = pC_->transactController(motNo,command,reply);
next_poll = -1;
targetPosition = (int)position;
return status;
}
@ -478,16 +479,28 @@ asynStatus EuroMoveAxis::poll(bool *moving)
/* Testing limit switches */
if((axStatus & 2) > 0){ // bit 2
setIntegerParam(pC_->motorStatusHighLimit_, true);
errlogPrintf("HighLimit detected on %d\n", motNo);
sendStop();
if(targetPosition > position) {
/*
Error codition only when we wish to move further
*/
setIntegerParam(pC_->motorStatusHighLimit_, true);
errlogPrintf("HighLimit detected on %d\n", motNo);
updateMsgTxtFromDriver("On high limit switch");
sendStop();
}
} else {
setIntegerParam(pC_->motorStatusHighLimit_, false);
}
if((axStatus & 1) > 0){ // bit 1
setIntegerParam(pC_->motorStatusLowLimit_, true);
errlogPrintf("LowLimit detected on %d\n", motNo);
sendStop();
setIntegerParam(pC_->motorStatusLowLimit_, true);
if(targetPosition < position) {
/*
Error treatment onlly when we want to go below the limits
*/
errlogPrintf("LowLimit detected on %d\n", motNo);
sendStop();
updateMsgTxtFromDriver("On low limit switch");
}
} else {
setIntegerParam(pC_->motorStatusLowLimit_, false);
}

1
sinqEPICSApp/src/EuroMoveDriver.h
View File

@ -49,6 +49,7 @@ private:
asynStatus sendStop();
int resolution;
friend class EuroMoveController;
int targetPosition;
};
class EuroMoveController : public SINQController {