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Added call to parseReply in remaining command methods.

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This commit is contained in:
Daniel Sissom
2024-06-25 11:09:08 -05:00
parent f73608c596
commit 7b9f2870ca
1 changed files with 27 additions and 6 deletions
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33
dsmApp/src/MD90Driver.cpp
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@@ -179,7 +179,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
int freq;
// static const char *functionName = "MD90::sendAccelAndVelocity";
static const char *functionName = "MD90::sendAccelAndVelocity";
// Send the velocity
// Velocity provided in steps/sec
@@ -188,6 +188,9 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
freq = NINT(fabs(velocity / 500.));
sprintf(pC_->outString_, "SSF %d", freq);
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -217,12 +220,15 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "MD90Axis::home";
static const char *functionName = "MD90Axis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity);
sprintf(pC_->outString_, "HOM");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -248,16 +254,22 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
sprintf(pC_->outString_, "ESB");
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
asynStatus MD90Axis::stop(double acceleration )
{
asynStatus status;
//static const char *functionName = "MD90Axis::stop";
static const char *functionName = "MD90Axis::stop";
sprintf(pC_->outString_, "STP");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -267,7 +279,7 @@ asynStatus MD90Axis::stop(double acceleration )
asynStatus MD90Axis::setClosedLoop(bool closedLoop)
{
asynStatus status;
//static const char *functionName = "MD90Axis::setClosedLoop";
static const char *functionName = "MD90Axis::setClosedLoop";
if (closedLoop == 1) {
sprintf(pC_->outString_, "EPM");
@@ -275,6 +287,9 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
sprintf(pC_->outString_, "DPM");
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
@@ -285,23 +300,29 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
asynStatus MD90Axis::setIGain(double iGain)
{
asynStatus status;
//static const char *functionName = "MD90Axis::setIGain";
static const char *functionName = "MD90Axis::setIGain";
iGain = iGain * 1000;
if (iGain < 1) iGain = 1.0;
if (iGain > 1000) iGain = 1000.0;
sprintf(pC_->outString_, "SGN %d", NINT(iGain));
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}
asynStatus MD90Axis::doMoveToHome()
{
asynStatus status;
//static const char *functionName = "MD90Axis::doMoveToHome";
static const char *functionName = "MD90Axis::doMoveToHome";
sprintf(pC_->outString_, "CLM 0");
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
return status;
}