From 357170a7356013a6305e14190768afc0c25fa453 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ics2-dev.nbi.ansto.gov.au>
Date: Fri, 31 May 2013 09:55:10 +1000
Subject: [PATCH] SICS-616 Removed obsolete setpos command from motor driver.

---
 site_ansto/motor_dmc2280.c | 36 ------------------------------------
 1 file changed, 36 deletions(-)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index a58df874..5ab8f05d 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -285,7 +285,6 @@ static bool trace_switches = false;
 #define BUFFLEN 512
 #define _SAVEPOWER 0
 
-#define SETPOS "setpos"
 #define HOME "home"
 #define HARDLOWERLIM "hardlowerlim"
 #define HARDUPPERLIM "hardupperlim"
@@ -3329,17 +3328,6 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
 
   self = (pDMC2280Driv)pData;
 
-  if(strcasecmp(name,SETPOS) == 0) {
-    float oldZero, newZero;
-    if (self->pMot == NULL)
-      self->pMot = FindMotor(pServ->pSics, self->name);
-    assert(self->pMot);
-    MotorGetPar(self->pMot,"softzero",&oldZero);
-    newZero = (self->pMot->fPosition - newValue) + oldZero;
-    MotorSetPar(self->pMot,pCon,"softzero",newZero);
-    return 1;
-  }
-
   /* Set motor on delay, managers only */
   if(strcasecmp(name,MOTONDELAY) == 0) {
     if(!SCMatchRights(pCon,usMugger))
@@ -4301,30 +4289,6 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
       DMC2280StrList(self, argv[0], pCon);
       return 1;
     }
-    else if(strcasecmp(SETPOS, argv[1]) == 0) {
-      float oldZero, newZero, currPos, newValue;
-      if (self->pMot == NULL)
-        self->pMot = FindMotor(pServ->pSics, self->name);
-      assert(self->pMot);
-      MotorGetPar(self->pMot, "softzero", &oldZero);
-      if (argc > 3) {
-        sscanf(argv[2], "%f", &currPos);
-        currPos += oldZero;
-        sscanf(argv[3], "%f", &newValue);
-      }
-      else if (argc > 2 ){
-        sscanf(argv[2], "%f", &newValue);
-        currPos = self->pMot->fPosition;
-      }
-      else {
-        char buffer[BUFFLEN];
-        snprintf(buffer, BUFFLEN, "%s.setPos = %f\n", self->name, oldZero);
-        SCWrite(pCon, buffer, eStatus);
-        return 1;
-      }
-      newZero = (currPos - newValue);
-      return MotorSetPar(self->pMot, pCon, "softzero", newZero);
-    }
     else if(strcasecmp("reset", argv[1]) == 0) {
       /* Reset the state machine */
       DMC_ClearTimer(self);