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Replaced writeController() with writeReadController() to prevent talking too fast; improved debugging

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This commit is contained in:
MarkRivers
2012-03-02 18:56:26 +00:00
parent 1633484425
commit 8b04cf64fc
1 changed files with 20 additions and 18 deletions
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38
acsApp/src/MCB4BDriver.cpp
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@@ -123,12 +123,11 @@ MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo)
{
}
/** Reports on status of the driver
/** Reports on status of the axis
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* If details > 0 then information is printed about each axis.
* After printing controller-specific information calls asynMotorController::report()
* After printing device-specific information calls asynMotorAxis::report()
*/
void MCB4BAxis::report(FILE *fp, int level)
{
@@ -152,7 +151,7 @@ asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity)
if (ival < 2) ival=2;
if (ival > 255) ival = 255;
sprintf(pC_->outString_, "#%02dV=%d", axisNo_, ival);
status = pC_->writeController();
status = pC_->writeReadController();
// Send the acceleration
// acceleration is in steps/sec/sec
@@ -163,7 +162,7 @@ asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity)
if (ival < 1) ival=1;
if (ival > 255) ival=255;
sprintf(pC_->outString_, "#%02dR=%d", axisNo_, ival);
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
@@ -180,7 +179,7 @@ asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, do
} else {
sprintf(pC_->outString_, "#%02dG%+d", axisNo_, NINT(position));
}
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
@@ -196,26 +195,30 @@ asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double accele
} else {
sprintf(pC_->outString_, "#%02dH-", axisNo_);
}
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::moveVelocity";
static const char *functionName = "MCB4BAxis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
status = sendAccelAndVelocity(acceleration, maxVelocity);
/* MCB-4B does not have jog command. Move 1 million steps */
if (maxVelocity > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dM+1000000", axisNo_);
sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
} else {
/* This is a negative move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dM-1000000", axisNo_);
sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
}
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
@@ -225,7 +228,7 @@ asynStatus MCB4BAxis::stop(double acceleration )
//static const char *functionName = "MCB4BAxis::stop";
sprintf(pC_->outString_, "#%02dQ", axisNo_);
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
@@ -235,7 +238,7 @@ asynStatus MCB4BAxis::setPosition(double position)
//static const char *functionName = "MCB4BAxis::setPosition";
sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
@@ -245,17 +248,16 @@ asynStatus MCB4BAxis::setClosedLoop(bool closedLoop)
//static const char *functionName = "MCB4BAxis::setClosedLoop";
sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
status = pC_->writeController();
status = pC_->writeReadController();
return status;
}
/** Polls the axis.
* This function reads the controller position, encoder position, the limit status, the moving status,
* and the drive power-on status. It does not current detect following error, etc. but this could be
* added.
* This function reads the motor position, the limit status, the home status, the moving status,
* and the drive power-on status.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (1) or done (0). */
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus MCB4BAxis::poll(bool *moving)
{
int done;