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Added reading of persistent move state to polling.

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Daniel Sissom
2024-06-25 14:54:57 -05:00
parent 0600cba84d
commit bf7b557dd7
1 changed files with 9 additions and 0 deletions
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9
dsmApp/src/MD90Driver.cpp
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@@ -438,6 +438,7 @@ asynStatus MD90Axis::poll(bool *moving)
// The response string is of the form "0: Current position in encoder counts: 1000"
sscanf(pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
setDoubleParam(pC_->motorPosition_, position);
setDoubleParam(pC_->motorEncoderPosition_, position);
setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch
setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position
@@ -458,6 +459,14 @@ asynStatus MD90Axis::poll(bool *moving)
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setDoubleParam(pC_->motorIGain_, replyValue);
// Read the current motor persistent move state (using EPICS motorClosedLoop to report this)
sprintf(pC_->outString_, "GPM");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "0: Current persistent move state: 1"
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setIntegerParam(pC_->motorClosedLoop_, (replyValue == 0) ? 0:1);
// set some default params
setIntegerParam(pC_->motorStatusHasEncoder_, 1);
setIntegerParam(pC_->motorStatusGainSupport_, 1);