Change to latest sinqMotor version

src/turboPmacAxis.cpp

@@ -93,8 +93,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     }
 
     // Default values for the watchdog timeout mechanism
-    offsetMovTimeout_ = 30; // seconds
-    scaleMovTimeout_ = 2.0;
+    setOffsetMovTimeout(30.0); // seconds
+    setScaleMovTimeout(2.0);
 }
 
 turboPmacAxis::~turboPmacAxis(void) {
@@ -166,7 +166,7 @@ asynStatus turboPmacAxis::init() {
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
-    offsetMovTimeout_ = std::ceil(acoDelay / 1000.0);
+    setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
 
     // The PMAC electronic specifies the acceleration in m/s^2. Since we
     // otherwise work with the base length mm, the acceleration is converted
@@ -1005,6 +1005,10 @@ asynStatus turboPmacAxis::stop(double acceleration) {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    waitForHandshake_ = false;
+
     return rw_status;
 }
 
@@ -1039,6 +1043,10 @@ asynStatus turboPmacAxis::doReset() {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    waitForHandshake_ = false;
+
     return rw_status;
 }