- Reduced poll rate of EL737

- Removed unneeded hardware limit reading code from EL734

sinqEPICSApp/src/EL734Driver.cpp

@@ -231,6 +231,7 @@ EL734Axis::EL734Axis(EL734Controller *pC, int axisNo)
     if(count >= 2){
           pC_->setDoubleParam(axisNo_,pC_->motorLowLimit_,low);
           pC_->setDoubleParam(axisNo_,pC_->motorHighLimit_,high);
+          callParamCallbacks();
     } else {
       errlogPrintf("Bad response - %s - requesting limits at axis %d", reply, axisNo_);
     }
@@ -267,6 +268,8 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
 
   // status = sendAccelAndVelocity(acceleration, maxVelocity);
   
+  errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
+
   if (relative) {
     position += this->position;
   }
@@ -377,6 +380,7 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
 asynStatus EL734Axis::poll(bool *moving)
 { 
   int msr, count;
+  float low, high;
   asynStatus comStatus = asynSuccess;
   char command[COMLEN], reply[COMLEN], errTxt[256];
 
@@ -386,6 +390,18 @@ asynStatus EL734Axis::poll(bool *moving)
     return asynSuccess;
   }
 
+  // read hardware limits
+  sprintf(command,"H %d",axisNo_);
+  comStatus = pC_->transactController(axisNo_,command,reply);
+  if(comStatus == asynSuccess){
+    count = sscanf(reply,"%f %f",&low, &high);
+    if(count >= 2){
+          pC_->setDoubleParam(axisNo_,pC_->motorLowLimit_,low);
+          pC_->setDoubleParam(axisNo_,pC_->motorHighLimit_,high);
+          callParamCallbacks();
+    }
+  }
+ 
   // Read the current motor position
   setIntegerParam(pC_->motorStatusProblem_,false);
   sprintf(command,"u %d", axisNo_);

sinqEPICSApp/src/devScalerEL737.c

@@ -566,7 +566,7 @@ static void el737Thread(void *param)
       */
       runEvents(priv);
       if(priv->counting == 1){
-	timeout = .1;
+	timeout = .2;
       }
     } else {
       /*