Binary-Coalescence/motorDSM
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Added error printouts in IOC for motor polling codes.

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This commit is contained in:
Daniel Sissom
2024-06-25 14:01:21 -05:00
parent 7b9f2870ca
commit 51fceaf7d7
1 changed files with 13 additions and 0 deletions
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13
dsmApp/src/MD90Driver.cpp
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@@ -343,6 +343,7 @@ asynStatus MD90Axis::poll(bool *moving)
int homed; int homed;
double position; double position;
asynStatus comStatus; asynStatus comStatus;
static const char *functionName = "MD90Axis::poll";
// TODO: Will need to add some more error handling for the motor return codes. // TODO: Will need to add some more error handling for the motor return codes.
@@ -377,31 +378,42 @@ asynStatus MD90Axis::poll(bool *moving)
*moving = done ? false:true; *moving = done ? false:true;
switch(replyValue) { switch(replyValue) {
case 0: // Idle case 0: // Idle
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Idle\n", functionName);
break; break;
case 1: // Open loop move complete case 1: // Open loop move complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Open loop move complete\n", functionName);
break; break;
case 2: // Move in progress case 2: // Move in progress
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Move in progress\n", functionName);
break; break;
case 3: // Move stopped case 3: // Move stopped
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Move stopped\n", functionName);
break; break;
case 4: // Homing error case 4: // Homing error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Homing error\n", functionName);
break; break;
case 5: // Stance error case 5: // Stance error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Stance error (Error resetting pose during closed loop move)\n", functionName);
break; break;
case 6: // Stance complete case 6: // Stance complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Stance complete (Finished resetting pose, starting extension move)\n", functionName);
break; break;
case 7: // Open loop move error case 7: // Open loop move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Open loop move error\n", functionName);
break; break;
case 8: // Closed loop move error case 8: // Closed loop move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Closed loop move error\n", functionName);
break; break;
case 9: // Closed loop move complete case 9: // Closed loop move complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Closed loop move complete\n", functionName);
break; break;
case 10: // End of travel error case 10: // End of travel error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: End of travel error\n", functionName);
/* /*
if (position > 0) { if (position > 0) {
setIntegerParam(pC_->motorStatusHighLimit_, 1); setIntegerParam(pC_->motorStatusHighLimit_, 1);
@@ -412,6 +424,7 @@ asynStatus MD90Axis::poll(bool *moving)
break; break;
case 11: // Ramp move error case 11: // Ramp move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Ramp move error\n", functionName);
break; break;
default: default:
break; break;