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Updated to read md90 moving status.

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Daniel Sissom
2024-05-23 14:12:04 -05:00
parent 07f07d16ad
commit a4d5388531
1 changed files with 6 additions and 3 deletions
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9
dsmApp/src/MD90Driver.cpp
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@@ -269,6 +269,8 @@ asynStatus MD90Axis::poll(bool *moving)
double position; double position;
asynStatus comStatus; asynStatus comStatus;
// TODO: Will need to add some more error handling for the motor return codes.
// Read the current motor position // Read the current motor position
sprintf(pC_->outString_, "GEE"); sprintf(pC_->outString_, "GEE");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
@@ -279,11 +281,12 @@ asynStatus MD90Axis::poll(bool *moving)
setDoubleParam(pC_->motorPosition_, position); setDoubleParam(pC_->motorPosition_, position);
// Read the moving status of this motor // Read the moving status of this motor
sprintf(pC_->outString_, "#%02dX", axisNo_); sprintf(pC_->outString_, "STA");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
if (comStatus) goto skip; if (comStatus) goto skip;
// The response string is of the form "#01X=1" // The response string is of the form "0: Current status value: 0"
done = (pC_->inString_[5] == '0') ? 1:0; sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &replyValue);
done = (replyValue == '2') ? 0:1;
setIntegerParam(pC_->motorStatusDone_, done); setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true; *moving = done ? false:true;