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Reordered status polling commands.

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Daniel Sissom
2024-06-21 14:53:50 -05:00
parent 4ab244925d
commit 8c053dfa62
1 changed files with 21 additions and 21 deletions
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42
dsmApp/src/MD90Driver.cpp
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@@ -293,13 +293,24 @@ asynStatus MD90Axis::poll(bool *moving)
// 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.
// Read the current motor position in encoder steps (10 nm) // Read the drive power on status
sprintf(pC_->outString_, "GEC"); sprintf(pC_->outString_, "GPS");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
if (comStatus) goto skip; if (comStatus) goto skip;
// The response string is of the form "0: Current position in encoder counts: 1000" // The response string is of the form "0: Power supply enabled state: 1"
sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position); sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setDoubleParam(pC_->motorPosition_, position); driveOn = (replyValue == '1') ? 1:0;
setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0);
// Read the home status
sprintf(pC_->outString_, "GHS");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "0: Home status: 1"
sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
homed = (replyValue == '1') ? 1:0;
setIntegerParam(pC_->motorStatusHomed_, homed);
// Read the moving status of this motor // Read the moving status of this motor
sprintf(pC_->outString_, "STA"); sprintf(pC_->outString_, "STA");
@@ -350,24 +361,13 @@ asynStatus MD90Axis::poll(bool *moving)
break; break;
} }
// Read the home status // Read the current motor position in encoder steps (10 nm)
sprintf(pC_->outString_, "GHS"); sprintf(pC_->outString_, "GEC");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
if (comStatus) goto skip; if (comStatus) goto skip;
// The response string is of the form "0: Home status: 1" // The response string is of the form "0: Current position in encoder counts: 1000"
sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue); sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
homed = (replyValue == '1') ? 1:0; setDoubleParam(pC_->motorPosition_, position);
setIntegerParam(pC_->motorStatusHomed_, homed);
// Read the drive power on status
sprintf(pC_->outString_, "GPS");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "0: Power supply enabled state: 1"
sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
driveOn = (replyValue == '1') ? 1:0;
setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0);
skip: skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0); setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);