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Seperate +/- limit switch status bits.

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This commit is contained in:
Ron Sluiter
2002-07-03 21:37:28 +00:00
parent 22c4c0c2cf
commit 445af6a201
1 changed files with 11 additions and 7 deletions
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18
acsApp/src/drvMCB4B.c
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@@ -8,6 +8,7 @@
* Modification Log: * Modification Log:
* ----------------- * -----------------
* .01 02-24-2002 mlr initialized from drvPM304.c * .01 02-24-2002 mlr initialized from drvPM304.c
* .02 07-03-2002 rls replaced RA_OVERTRAVEL with RA_PLUS_LS and RA_MINUS_LS
*/ */
@@ -193,6 +194,7 @@ STATIC int set_status(int card, int signal)
int rtn_state; int rtn_state;
long motorData; long motorData;
char buff[BUFF_SIZE]; char buff[BUFF_SIZE];
BOOLEAN ls_active = OFF;
motor_info = &(motor_state[card]->motor_info[signal]); motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion; nodeptr = motor_info->motor_motion;
@@ -214,14 +216,16 @@ STATIC int set_status(int card, int signal)
send_mess(card, command, 0); send_mess(card, command, 0);
recv_mess(card, response, WAIT); recv_mess(card, response, WAIT);
/* The response string is of the form "#01E=1" */ /* The response string is of the form "#01E=1" */
motor_info->status &= ~RA_OVERTRAVEL; motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
if (response[5] == '1') { if (response[5] == '1') {
motor_info->status |= RA_OVERTRAVEL; motor_info->status |= RA_PLUS_LS;
motor_info->status |= RA_DIRECTION; motor_info->status |= RA_DIRECTION;
ls_active = ON;
} }
if (response[6] == '1') { if (response[6] == '1') {
motor_info->status |= RA_OVERTRAVEL; motor_info->status |= RA_MINUS_LS;
motor_info->status &= ~RA_DIRECTION; motor_info->status &= ~RA_DIRECTION;
ls_active = ON;
} }
/* encoder status */ /* encoder status */
@@ -254,12 +258,12 @@ STATIC int set_status(int card, int signal)
if (!(motor_info->status & RA_DIRECTION)) if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1; motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || rtn_state = (!motor_info->no_motion_count || ls_active == ON ||
(motor_info->status & (RA_OVERTRAVEL | RA_DONE | RA_PROBLEM))) ? 1 : 0; (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */ /* Test for post-move string. */
if ((motor_info->status & RA_DONE || motor_info->status & RA_OVERTRAVEL) && if ((motor_info->status & RA_DONE || ls_active == ON) && nodeptr != 0 &&
nodeptr != 0 && nodeptr->postmsgptr != 0) nodeptr->postmsgptr != 0)
{ {
strcpy(buff, nodeptr->postmsgptr); strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r"); strcat(buff, "\r");