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Updated to read md90 home status.

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Daniel Sissom
2024-05-23 15:47:39 -05:00
parent 67eee854c0
commit 1205814767
1 changed files with 7 additions and 10 deletions
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17
dsmApp/src/MD90Driver.cpp
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@@ -265,7 +265,7 @@ asynStatus MD90Axis::poll(bool *moving)
double replyValue;
int done;
int driveOn;
int limit;
int home;
double position;
asynStatus comStatus;
@@ -290,17 +290,14 @@ asynStatus MD90Axis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
// Read the limit status
sprintf(pC_->outString_, "#%02dE", axisNo_);
// Read the home status
sprintf(pC_->outString_, "GHS");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "#01E=1"
limit = (pC_->inString_[5] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusHighLimit_, limit);
limit = (pC_->inString_[6] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusLowLimit_, limit);
limit = (pC_->inString_[7] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusAtHome_, limit);
// The response string is of the form "0: Home status: 1"
sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &replyValue);
home = (replyValue == '1') ? 1:0;
setIntegerParam(pC_->motorStatusAtHome_, home);
// Read the drive power on status
sprintf(pC_->outString_, "#%02dW", axisNo_);