Binary-Coalescence/motorDSM
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Merge branch 'homing' into dev

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Daniel Sissom
2024-08-06 12:39:24 -05:00
parent ffada72c50 bf680d0c6f
commit d605ceceae
2 changed files with 30 additions and 1 deletions
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27
dsmApp/src/MD90Driver.cpp
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@@ -12,6 +12,8 @@ March 1, 2012
#include <string.h> #include <string.h>
#include <stdlib.h> #include <stdlib.h>
#include <math.h> #include <math.h>
#include <chrono>
#include <thread>
#include <iocsh.h> #include <iocsh.h>
#include <epicsThread.h> #include <epicsThread.h>
@@ -219,11 +221,36 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards) asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{ {
int sleepTime;
asynStatus status; asynStatus status;
static const char *functionName = "MD90Axis::home"; static const char *functionName = "MD90Axis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity); status = sendAccelAndVelocity(acceleration, maxVelocity);
// The MD-90 will start the home routine in the direction of the last move
// Here we first make a small move to set the desired direction before homing
sprintf(pC_->outString_, "SNS %d", SMALL_NSTEPS);
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
if (forwards) {
sprintf(pC_->outString_, "ESF");
} else {
sprintf(pC_->outString_, "ESB");
}
status = pC_->writeReadController();
if (!status) {
status = parseReply(functionName, pC_->inString_);
}
// Wait for the move to complete, then home
sleepTime = SLEEP_MARGIN * SMALL_NSTEPS * COUNTS_PER_STEP / maxVelocity;
std::this_thread::sleep_for(std::chrono::seconds(sleepTime));
sprintf(pC_->outString_, "HOM"); sprintf(pC_->outString_, "HOM");
status = pC_->writeReadController(); status = pC_->writeReadController();
if (!status) { if (!status) {

2
dsmApp/src/MD90Driver.h
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@@ -12,6 +12,8 @@ USAGE... Motor driver support for the DSM MD-90 controller.
// No controller-specific parameters yet // No controller-specific parameters yet
#define NUM_MD90_PARAMS 0 #define NUM_MD90_PARAMS 0
#define SLEEP_MARGIN 1.2 // Extra factor to wait after stepping before homing
#define SMALL_NSTEPS 5 // Number of steps to take to set direction for homing routine
#define COUNTS_PER_STEP 1000.0 // Number of encoder counts per motor step (measured by testing) #define COUNTS_PER_STEP 1000.0 // Number of encoder counts per motor step (measured by testing)
class epicsShareClass MD90Axis : public asynMotorAxis class epicsShareClass MD90Axis : public asynMotorAxis