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Added "setpos" method to motors

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r1099 | ffr | 2006-09-01 14:46:44 +1000 (Fri, 01 Sep 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-09-01 14:46:44 +10:00
committed by Douglas Clowes
parent 7bdd25b248
commit 1fb33a1d2e
1 changed files with 14 additions and 0 deletions
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14
site_ansto/motor_dmc2280.c
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@@ -24,6 +24,7 @@
#include <sics.h>
#include <rs232controller.h>
#include <modriv.h>
#include <motor.h>
#include <dynstring.h>
#include "anstoutil.h"
@@ -80,6 +81,7 @@ typedef struct __MoDriv {
/* DMC-2280 specific fields */
prs232 controller;
pMotor pMot; /**< Points to logical motor object */
int errorCode;
char *errorMsg; /**< Points to memory for error messages */
char units[256]; /**< physical units for axis */
@@ -129,6 +131,7 @@ typedef struct __MoDriv {
#define BUFFLEN 512
#define _SAVEPOWER 0
#define SETPOS "setpos"
#define HOME "home"
#define HARDLOWERLIM "hardlowerlim"
#define HARDUPPERLIM "hardupperlim"
@@ -785,6 +788,7 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
pDMC2280Driv self = NULL;
char pError[ERRLEN];
char cmd[CMDLEN];
float currPos, oldZero, newZero;
self = (pDMC2280Driv)pData;
@@ -809,6 +813,15 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
}
}
if(strcmp(name,SETPOS) == 0) {
if (self->pMot == NULL)
self->pMot = FindMotor(pServ->pSics, self->name);
MotorGetPar(self->pMot,"softzero",&oldZero);
newZero = (self->pMot->fPosition - newValue) + oldZero;
MotorSetPar(self->pMot,pCon,"softzero",newZero);
return 1;
}
/* Set hard limits, managers only */
if(strcmp(name,HARDLOWERLIM) == 0) {
if(!SCMatchRights(pCon,usMugger))
@@ -1044,6 +1057,7 @@ static void KillDMC2280(/*@only@*/void *pData){
KillDMC2280(pNew);
return NULL;
}
pNew->pMot = NULL;
strcpy(pNew->name, motor);
pNew->home = 0.0;
pNew->fLower = 0.0;//(float)atof(argv[2]);