Binary-Coalescence/motorDSM
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Fixed speed conversions

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Fixed speed conversions based on testing data.
This commit is contained in:
Bert McMahan
2024-08-05 10:56:31 -05:00
parent cf26f426df
commit 2379c90d90
2 changed files with 4 additions and 5 deletions
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4
dsmApp/src/MD90Driver.cpp
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@@ -185,7 +185,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
// Velocity provided in steps/sec
// Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 5 micrometers.
// Motor controller accepts step frequency in Hz.
freq = NINT(fabs(velocity / 500.));
freq = NINT(fabs(velocity / COUNTS_PER_STEP));
sprintf(pC_->outString_, "SSF %d", freq);
status = pC_->writeReadController();
if (!status) {
@@ -446,7 +446,7 @@ asynStatus MD90Axis::poll(bool *moving)
if (comStatus) goto skip;
// The response string is of the form "0: Current step frequency: 100"
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
velocity = replyValue * 500.0;
velocity = replyValue * COUNTS_PER_STEP;
setDoubleParam(pC_->motorVelocity_, velocity);
// Read the current motor integral gain (range 1-1000)