koennecke
6de4a878ef
Conflicts: .gitignore sinqEPICSApp/src/pmacAxis.cpp sinqEPICSApp/src/pmacAxis.h sinqEPICSApp/src/pmacController.cpp sinqEPICSApp/src/pmacController.h
135 lines
3.9 KiB
C++
135 lines
3.9 KiB
C++
/********************************************
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* pmacAxis.cpp
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*
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* PMAC Asyn motor based on the
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* asynMotorAxis class.
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*
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* Matthew Pearson
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* 23 May 2012
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*
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* Modified to use the MsgTxt field for SINQ
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*
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* Mark Koennecke, January 2019
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*
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* EXtended with special motor axis for the Selene
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* guide, Mark Koennecke, February 2020
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********************************************/
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#ifndef pmacAxis_H
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#define pmacAxis_H
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#include "SINQController.h"
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#include "SINQAxis.h"
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class pmacController;
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class SeleneController;
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class pmacAxis : public SINQAxis
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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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pmacAxis(pmacController *pController, int axisNo, bool enable=true);
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virtual ~pmacAxis();
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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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protected:
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pmacController *pC_;
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asynStatus getAxisStatus(bool *moving);
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asynStatus getAxisInitialStatus(void);
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double setpointPosition_;
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double encoderPosition_;
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double currentVelocity_;
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double velocity_;
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double accel_;
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double highLimit_;
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double lowLimit_;
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double scale_;
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double previous_position_;
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int previous_direction_;
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int encoder_axis_;
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int axisErrorCount;
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time_t startTime;
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time_t status6Time;
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int starting;
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int homing;
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double statusPos;
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time_t next_poll;
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bool autoEnable;
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friend class pmacController;
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};
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/*----------------------------------------------------------------------------------------------*/
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class pmacHRPTAxis : public pmacAxis
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{
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public:
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pmacHRPTAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo) {};
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/**
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* Override getAxisStatus in order to read the special parameter indicating a
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* slit blade crash at HRPT
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*/
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asynStatus getAxisStatus(bool *moving);
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protected:
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friend class pmacController;
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};
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/*--------------------------------------------------------------------------------------------*/
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class SeleneAxis : public pmacAxis
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{
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public:
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SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus setPosition(double position);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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protected:
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friend class SeleneController;
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friend class pmacController;
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private:
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double limitTarget;
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asynStatus getSeleneAxisInitialStatus(void);
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};
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/*
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Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is
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two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the
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actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on
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the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
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In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them
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sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is
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implemented through the LIFTSEGMENT function code.
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Mark Koennecke, February 2020
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The axis should not be enabled automatically
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Michele Brambilla, February 2020
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*/
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class LiftAxis : public pmacAxis
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{
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public:
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LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus poll(bool *moving);
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asynStatus stop(double acceleration);
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private:
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int waitStart;
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};
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#endif /* pmacAxis_H */
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