Made some functions virtual so they can be overwritten in subclasses

src/turboPmacAxis.h

@@ -31,7 +31,7 @@ class turboPmacAxis : public sinqAxis {
      * value is currently not used.
      * @return asynStatus
      */
-    asynStatus stop(double acceleration);
+    virtual asynStatus stop(double acceleration);
 
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
@@ -43,8 +43,8 @@ class turboPmacAxis : public sinqAxis {
      * @param forwards
      * @return asynStatus
      */
-    asynStatus doHome(double minVelocity, double maxVelocity,
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
-                      double acceleration, int forwards);
+                              double acceleration, int forwards);
 
     /**
      * @brief Implementation of the `doPoll` function from sinqAxis. The
@@ -53,7 +53,7 @@ class turboPmacAxis : public sinqAxis {
      * @param moving
      * @return asynStatus
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus doPoll(bool *moving);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -66,8 +66,9 @@ class turboPmacAxis : public sinqAxis {
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    virtual asynStatus doMove(double position, int relative,
-                      double max_velocity, double acceleration);
+                              double min_velocity, double max_velocity,
+                              double acceleration);
 
     /**
      * @brief Readout of some values from the controller at IOC startup
@@ -79,7 +80,7 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus init();
+    virtual asynStatus init();
 
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
@@ -87,7 +88,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus doReset();
+    virtual asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -95,7 +96,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus enable(bool on);
+    virtual asynStatus enable(bool on);
 
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
@@ -103,14 +104,14 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus readEncoderType();
+    virtual asynStatus readEncoderType();
 
     /**
      * @brief Trigger a rereading of the encoder position.
      *
      * @return asynStatus
      */
-    asynStatus rereadEncoder();
+    virtual asynStatus rereadEncoder();
 
     /**
      * @brief Interpret the error code and populate the user message accordingly