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OMS: Synchronize motor position with encoder position before every move #93

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merged 2 commits into from
Jun 21, 2018
Merged

OMS: Synchronize motor position with encoder position before every move #93

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58ed8b4
Synchronize motor position with encoder position before every move
Mar 13, 2018
d061e91
Removed version control info from file
Jun 21, 2018
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38 changes: 35 additions & 3 deletions motorApp/OmsAsynSrc/omsBaseAxis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@
FILENAME... omsBaseAxis.cpp
USAGE... Pro-Dex OMS asyn motor base axes support

Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
HeadURL: $URL$
*/


Expand All @@ -28,6 +32,7 @@ omsBaseAxis::omsBaseAxis(omsBaseController *pController, int axis, char axisChar
stepper = 1;
invertLimit = 0;
lastminvelo = 0;
encoderRatio = 1.0;
}

asynStatus omsBaseAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
Expand All @@ -36,9 +41,36 @@ asynStatus omsBaseAxis::move(double position, int relative, double min_velocity,
static const char *functionName = "moveAxis";

asynStatus status = asynError;

char buff[100];
char encoderPositionResponse[64];

int hasEncoder = 0;
if (pC_->getIntegerParam(axisNo_, pC_->motorStatusHasEncoder_, &hasEncoder) == asynError)
{
return asynError;
}

if (hasEncoder != 0)
{
sprintf(buff, "A%1c;RE;", axisChar);
status = pC_->sendReceiveLock(buff, encoderPositionResponse, 64);
if (status == asynError)
{
return status;
}

int motorPosition = static_cast<int>(atoi(encoderPositionResponse) / encoderRatio);
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s motor position %d from encoder position %s\n",
driverName, functionName, pC_->portName, motorPosition, encoderPositionResponse);

sprintf(buff, "A%1c;LO%d;", axisChar, motorPosition);
status = pC_->sendOnlyLock(buff);
}

epicsInt32 minvelo, velo, acc, rela, pos;
char *relabs[2] = {(char *) "MA", (char *) "MR"};
char buff[100];

if (relative)
rela = 1;
Expand Down Expand Up @@ -81,7 +113,7 @@ asynStatus omsBaseAxis::move(double position, int relative, double min_velocity,
status = pC_->sendOnlyLock(buff);

asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f",
"%s:%s: Set driver %s, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
driverName, functionName, pC_->portName, axisNo_, position, min_velocity, max_velocity, acceleration );

return status;
Expand Down Expand Up @@ -124,7 +156,7 @@ asynStatus omsBaseAxis::home(double min_velocity, double max_velocity, double ac
homing = 1;

asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: Set driver %s, axis %d to home %s, min vel=%f, max_vel=%f, accel=%f",
"%s:%s: Set driver %s, axis %d to home %s, min vel=%f, max_vel=%f, accel=%f\n",
driverName, functionName, pC_->portName, axisNo_, (forwards?"FORWARDS":"REVERSE"), min_velocity, max_velocity, acceleration );

return status;
Expand Down
16 changes: 11 additions & 5 deletions motorApp/OmsAsynSrc/omsBaseAxis.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@
FILENAME... omsBaseAxis.h
USAGE... Pro-Dex OMS asyn motor base axes support

Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
HeadURL: $URL$
*/

/*
Expand Down Expand Up @@ -29,11 +33,12 @@ class omsBaseAxis : public asynMotorAxis
virtual asynStatus setPosition(double position);
virtual asynStatus poll(bool *moving);

int getAxis(){return axisNo_;};
int isStepper(){return stepper;};
void setStepper(int val){stepper=val;};
int getLimitInvert(){return invertLimit;};
void setLimitInvert(int val){invertLimit=val;};
int getAxis(){return axisNo_;}
int isStepper(){return stepper;}
void setStepper(int val){stepper=val;}
int getLimitInvert(){return invertLimit;}
void setLimitInvert(int val){invertLimit=val;}
virtual asynStatus setEncoderRatio(double ratio){encoderRatio=ratio; return asynSuccess;}
int card;
int moveDelay;
char axisChar;
Expand All @@ -45,6 +50,7 @@ class omsBaseAxis : public asynMotorAxis
int stepper;
int invertLimit;
epicsInt32 lastminvelo;
double encoderRatio;

friend class omsBaseController;
};
Expand Down