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Added doMoveToHome method.

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This commit is contained in:
Daniel Sissom
2024-06-05 16:14:40 -05:00
parent c5eebd9597
commit 402584345f
2 changed files with 11 additions and 0 deletions
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10
dsmApp/src/MD90Driver.cpp
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@@ -264,6 +264,16 @@ asynStatus MD90Axis::setIGain(double iGain)
return status; return status;
} }
asynStatus MD90Axis::doMoveToHome()
{
asynStatus status;
//static const char *functionName = "MD90Axis::doMoveToHome";
sprintf(pC_->outString_, "CLM 0");
status = pC_->writeReadController();
return status;
}
/** Polls the axis. /** Polls the axis.
* This function reads the motor position, the limit status, the home status, the moving status, * This function reads the motor position, the limit status, the home status, the moving status,
* and the drive power-on status. * and the drive power-on status.

1
dsmApp/src/MD90Driver.h
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@@ -28,6 +28,7 @@ public:
asynStatus poll(bool *moving); asynStatus poll(bool *moving);
asynStatus setClosedLoop(bool closedLoop); asynStatus setClosedLoop(bool closedLoop);
asynStatus setIGain(double iGain); asynStatus setIGain(double iGain);
asynStatus doMoveToHome();
private: private:
MD90Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs. MD90Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.