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SICS-616 Removed obsolete setpos command from motor driver.

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This commit is contained in:
Ferdi Franceschini
2013-05-31 09:55:10 +10:00
parent 7e0e068ee2
commit 357170a735
1 changed files with 0 additions and 36 deletions
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36
site_ansto/motor_dmc2280.c
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@@ -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);