lin-epics-modules/turboPmac
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Included the possibility to vary the motor speed.

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This commit is contained in:
mathis_s
2024-12-05 11:16:44 +01:00
parent 2e2c24238b
commit 3ee507086a
4 changed files with 35 additions and 50 deletions
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22
src/pmacv3Axis.cpp
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@@ -951,18 +951,7 @@ asynStatus pmacv3Axis::rereadEncoder() {
// Abort if the axis is incremental
if (strcmp(encoderType, IncrementalEncoder) == 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
"%s => line %d:\nTrying to reread absolute encoder of "
"axis %d on controller %s, but it is a relative encoder.\n",
__PRETTY_FUNCTION__, __LINE__, axisNo_, pC_->portName);
pl_status = setStringParam(pC_->motorMessageText_,
"Cannot reread an incremental encoder.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
return asynError;
return asynSuccess;
}
// Check if the axis is disabled. If not, inform the user that this
@@ -1062,6 +1051,14 @@ asynStatus pmacv3Axis::enable(bool on) {
return asynSuccess;
}
// Reread the encoder, if the axis is going to be enabled
if (on != 0) {
rw_status = rereadEncoder();
if (rw_status != asynSuccess) {
return rw_status;
}
}
// Enable / disable the axis if it is not moving
snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
@@ -1077,7 +1074,6 @@ asynStatus pmacv3Axis::enable(bool on) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
rw_status = pC_->writeRead(axisNo_, command, response, 0);
if (rw_status != asynSuccess) {
return rw_status;