Binary-Coalescence/motorDSM
2
0
Fork 0
mirror of https://github.com/Binary-Coalescence/motorDSM.git synced 2025-08-04 21:55:40 -05:00
Code Issues Packages Projects Releases Wiki Activity

Bug fix for setting user limits, was not accepting values because of error return

Browse Source
This commit is contained in:
MarkRivers
2004-02-20 00:12:28 +00:00
parent 8e2954eea7
commit e28590f492
1 changed files with 19 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
acsApp/src/devMCB4B.cc
View File

@@ -9,6 +9,7 @@
* ----------------- * -----------------
* .00 02-24-2002 mlr initialized from devPM304.c * .00 02-24-2002 mlr initialized from devPM304.c
* .01 05-23-2003 rls Converted to R3.14.x. * .01 05-23-2003 rls Converted to R3.14.x.
* .02 02-19-2004 mlr Bug fix when not sending anything
*/ */
@@ -92,7 +93,8 @@ static msg_types MCB4B_table[] = {
IMMEDIATE, /* DISABL_TORQUE */ IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */ IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */ IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE /* SET_LOW_LIMIT */ IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOB_VELOCITY */
}; };
@@ -159,14 +161,16 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
RTN_STATUS rtnval; RTN_STATUS rtnval;
double dval; double dval;
long ival; long ival;
bool send;
send = true;
rtnval = OK; rtnval = OK;
buff[0] = '\0'; buff[0] = '\0';
dval = parms[0]; dval = parms[0];
ival = NINT(parms[0]); ival = NINT(parms[0]);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%ld\n", rtnval); Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
motor_call = &(trans->motor_call); motor_call = &(trans->motor_call);
motor_call->type = MCB4B_table[command]; motor_call->type = MCB4B_table[command];
@@ -201,6 +205,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
if (strlen(mr->prem) != 0) if (strlen(mr->prem) != 0)
{ {
strcpy(motor_call->message, mr->prem); strcpy(motor_call->message, mr->prem);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command]; motor_call->type = MCB4B_table[command];
} }
@@ -230,6 +235,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
sprintf(motor_call->message, "#%02dP=%+ld", axis, ival); sprintf(motor_call->message, "#%02dP=%+ld", axis, ival);
break; break;
case SET_VEL_BASE: case SET_VEL_BASE:
send=false;
trans->state = IDLE_STATE; trans->state = IDLE_STATE;
break; /* MCB4B does not use base velocity */ break; /* MCB4B does not use base velocity */
case SET_VELOCITY: case SET_VELOCITY:
@@ -253,6 +259,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
* The MCB4B starts moving immediately on move commands, GO command * The MCB4B starts moving immediately on move commands, GO command
* does nothing * does nothing
*/ */
send=false;
trans->state = IDLE_STATE; trans->state = IDLE_STATE;
break; break;
case SET_ENC_RATIO: case SET_ENC_RATIO:
@@ -260,6 +267,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
* The MCB4B does not have the concept of encoder ratio, ignore this * The MCB4B does not have the concept of encoder ratio, ignore this
* command * command
*/ */
send=false;
trans->state = IDLE_STATE; trans->state = IDLE_STATE;
break; break;
case GET_INFO: case GET_INFO:
@@ -288,14 +296,9 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
} }
break; break;
case SET_PGAIN: case SET_PGAIN:
trans->state = IDLE_STATE;
break;
case SET_IGAIN: case SET_IGAIN:
trans->state = IDLE_STATE;
break;
case SET_DGAIN: case SET_DGAIN:
send=false;
trans->state = IDLE_STATE; trans->state = IDLE_STATE;
break; break;
@@ -309,6 +312,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
case SET_HIGH_LIMIT: case SET_HIGH_LIMIT:
case SET_LOW_LIMIT: case SET_LOW_LIMIT:
send=false;
trans->state = IDLE_STATE; trans->state = IDLE_STATE;
break; break;
@@ -316,7 +320,11 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
rtnval = ERROR; rtnval = ERROR;
} }
rtnval = motor_end_trans_com(mr, drvtabptr); if(send == false)
Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval); return(rtnval);
return (rtnval); else {
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%d, exit\n", rtnval);
return (rtnval);
}
} }