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Add 'encoderAxis' parameter so encoder can be on a different axis from the motor.

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r2360 | dcl | 2008-02-18 08:22:02 +1100 (Mon, 18 Feb 2008) | 2 lines
This commit is contained in:
Douglas Clowes
2008-02-18 08:22:02 +11:00
parent b7f080dd7f
commit a095e0d6da
1 changed files with 40 additions and 3 deletions
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43
site_ansto/motor_dmc2280.c
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@@ -133,6 +133,7 @@ struct __MoDriv {
float decel; /**< physical units per second^2 */
float maxDecel; /**< physical units per second^2 */
char axisLabel;
char encoderAxis;
char lastCmd[CMDLEN];
char dmc2280Error[CMDLEN];
double fHome; /**< home position for axis, default=0 */
@@ -1000,7 +1001,7 @@ static int readAbsEnc(pDMC2280Driv self, float *pos) {
char reply[CMDLEN];
char cmd[CMDLEN];
snprintf(cmd, CMDLEN, "TP%c", self->axisLabel);
snprintf(cmd, CMDLEN, "TP%c", self->encoderAxis ? self->encoderAxis : self->axisLabel);
if (FAILURE == DMC_SendReceive(self, cmd, reply))
return FAILURE;
@@ -1201,11 +1202,15 @@ static bool has_var_x(pDMC2280Driv self, const char* vars, const char* name) {
*/
static int cmdStatus(pDMC2280Driv self) {
char cmd[CMDLEN];
char encoder = self->axisLabel;
if (self->encoderAxis && !(self->variables & VAR_ENC))
encoder = self->encoderAxis;
/* TODO: Use POSx, ENCx, RUNx, SWIx if it has these variables */
snprintf(cmd, CMDLEN, "MG {F10.0} %s%c,%s%c,%s%c,%s%c,_TI0,_TI1,_XQ0",
(self->variables & VAR_POS) ? "POS" : "_TD", self->axisLabel,
(self->variables & VAR_ENC) ? "ENC" : "_TP", self->axisLabel,
(self->variables & VAR_ENC) ? "ENC" : "_TP", encoder,
(self->variables & VAR_SWI) ? "SWI" : "_TS", self->axisLabel,
(self->variables & VAR_RUN) ? "RUN" : "_BG", self->axisLabel);
return DMC_SendReq(self, cmd);
@@ -3182,6 +3187,10 @@ static void DMC2280StrList(pDMC2280Driv self, char *name, SConnection *pCon){
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, self->axisLabel);
SCWrite(pCon, buffer, eStatus);
if (self->encoderAxis) {
snprintf(buffer, BUFFLEN, "%s.encoderAxis = %c\n", name, self->encoderAxis);
SCWrite(pCon, buffer, eStatus);
}
snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, self->units);
SCWrite(pCon, buffer, eStatus);
return;
@@ -3515,6 +3524,13 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
return NULL;
}
if ((pPtr=getParam(pCon, interp, params,"encoderaxis",_OPTIONAL)) == NULL)
pNew->encoderAxis=0;
else {
sscanf(pPtr,"%c",&(pNew->encoderAxis));
if (islower(pNew->encoderAxis))
pNew->encoderAxis = toupper(pNew->encoderAxis);
}
if ((pPtr=getParam(pCon, interp, params,"stepsperx",_REQUIRED)) == NULL) {
KillDMC2280(pNew);
free(pNew);
@@ -3687,7 +3703,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
else {
char line[132];
snprintf(line, 132, "Invalid axis on motor '%s':%c", self->name,
self->axisLabel);
argv[2][0]);
SCWrite(pCon,line,eError);
return 0;
}
@@ -3699,6 +3715,27 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
return 1;
}
else if (strcasecmp("encoderaxis", argv[1]) == 0) {
if (argc > 2) {
if (islower(argv[2][0]))
argv[2][0] = toupper(argv[2][0]);
if (argv[2][0] >= 'A' && argv[2][0] <= 'H')
self->encoderAxis = argv[2][0];
else {
char line[132];
snprintf(line, 132, "Invalid encoder axis on motor '%s':%c", self->name,
argv[2][0]);
SCWrite(pCon,line,eError);
return 0;
}
}
else {
char line[132];
snprintf(line, 132, "%s.encoderAxis = %c", self->name, self->encoderAxis);
SCWrite(pCon, line, eValue);
}
return 1;
}
else if (strcasecmp("units", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->units, argv[2], sizeof(self->units));