Binary-Coalescence/motorDSM
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Added home position status to poll.

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Daniel Sissom
2024-06-21 16:31:17 -05:00
parent 29a78e1023
commit bdec17808a
1 changed files with 6 additions and 2 deletions
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8
dsmApp/src/MD90Driver.cpp
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@@ -291,6 +291,8 @@ 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.
setIntegerParam(pC_->motorStatusProblem_, 0);
// Read the drive power on status // Read the drive power on status
sprintf(pC_->outString_, "GPS"); sprintf(pC_->outString_, "GPS");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
@@ -345,11 +347,13 @@ asynStatus MD90Axis::poll(bool *moving)
break; break;
case 10: // End of travel error case 10: // End of travel error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
/*
if (position > 0) { if (position > 0) {
setIntegerParam(pC_->motorStatusHighLimit_, 1); setIntegerParam(pC_->motorStatusHighLimit_, 1);
} else { } else {
setIntegerParam(pC_->motorStatusLowLimit_, 1); setIntegerParam(pC_->motorStatusLowLimit_, 1);
} }
*/
break; break;
case 11: // Ramp move error case 11: // Ramp move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
@@ -365,6 +369,8 @@ asynStatus MD90Axis::poll(bool *moving)
// The response string is of the form "0: Current position in encoder counts: 1000" // The response string is of the form "0: Current position in encoder counts: 1000"
sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position); sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
setDoubleParam(pC_->motorPosition_, position); setDoubleParam(pC_->motorPosition_, position);
setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch
setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position
// Read the current motor integral gain (range 1-1000) // Read the current motor integral gain (range 1-1000)
sprintf(pC_->outString_, "GGN"); sprintf(pC_->outString_, "GGN");
@@ -374,8 +380,6 @@ asynStatus MD90Axis::poll(bool *moving)
sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue); sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setDoubleParam(pC_->motorIGain_, replyValue); setDoubleParam(pC_->motorIGain_, replyValue);
setIntegerParam(pC_->motorStatusProblem_, 0);
skip: skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0); setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks(); callParamCallbacks();