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Merge branch 'dev'

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This commit is contained in:
Daniel Sissom
2024-05-23 17:28:57 -05:00
parent d24486dfb4 b56a1f9a35
commit c11e11659b
1 changed files with 52 additions and 19 deletions
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71
dsmApp/src/MD90Driver.cpp
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@@ -227,7 +227,7 @@ asynStatus MD90Axis::stop(double acceleration )
asynStatus status; asynStatus status;
//static const char *functionName = "MD90Axis::stop"; //static const char *functionName = "MD90Axis::stop";
sprintf(pC_->outString_, "#%02dQ", axisNo_); sprintf(pC_->outString_, "STP");
status = pC_->writeReadController(); status = pC_->writeReadController();
return status; return status;
} }
@@ -260,46 +260,79 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */ * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus MD90Axis::poll(bool *moving) asynStatus MD90Axis::poll(bool *moving)
{ {
int replyStatus;
char replyString[256];
int replyValue;
int done; int done;
int driveOn; int driveOn;
int limit; int home;
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_, "#%02dP", axisNo_); 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 "#01P=+1000" // The response string is of the form "0: Current position in encoder counts: 1000"
position = atof(&pC_->inString_[5]); sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
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: %[^:]: %d", &replyStatus, replyString, &replyValue);
done = (replyValue == '2') ? 0:1;
setIntegerParam(pC_->motorStatusDone_, done); setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true; *moving = done ? false:true;
switch(replyValue) {
case 0: // Idle
break;
case 1: // Open loop move complete
break;
case 2: // Move in progress
break;
case 3: // Move stopped
break;
case 4: // Homing error
break;
case 5: // Stance error
break;
case 6: // Stance complete
break;
case 7: // Open loop move error
break;
case 8: // Closed loop move error
break;
case 9: // Closed loop move complete
break;
case 10: // End of travel error
break;
case 11: // Ramp move error
break;
default:
break;
}
// Read the limit status // Read the home status
sprintf(pC_->outString_, "#%02dE", axisNo_); sprintf(pC_->outString_, "GHS");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
if (comStatus) goto skip; if (comStatus) goto skip;
// The response string is of the form "#01E=1" // The response string is of the form "0: Home status: 1"
limit = (pC_->inString_[5] == '1') ? 1:0; sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setIntegerParam(pC_->motorStatusHighLimit_, limit); home = (replyValue == '1') ? 1:0;
limit = (pC_->inString_[6] == '1') ? 1:0; setIntegerParam(pC_->motorStatusAtHome_, home);
setIntegerParam(pC_->motorStatusLowLimit_, limit);
limit = (pC_->inString_[7] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusAtHome_, limit);
// Read the drive power on status // Read the drive power on status
sprintf(pC_->outString_, "#%02dW", axisNo_); sprintf(pC_->outString_, "GPS");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
if (comStatus) goto skip; if (comStatus) goto skip;
driveOn = (pC_->inString_[5] == '1') ? 1:0; // 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_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0); setIntegerParam(pC_->motorStatusProblem_, 0);