asynStatus SMChydraAxis::moveVelocity(double baseVelocity, double slewVelocity, double acceleration)
{
asynStatus status;
static const char *functionName = "SMChydraAxis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: baseVelocity=%f, slewVelocity=%f, acceleration=%f\n",
functionName, baseVelocity, slewVelocity, acceleration);
/* SMC hydra does not have jog command. Move to a limit*/
if (slewVelocity > 0.) {
status = sendAccelAndVelocity(acceleration, slewVelocity);
sprintf(pC_->outString_, "%f %i nm", posTravelLimit_, (axisNo_ + 1));
} else {
status = sendAccelAndVelocity(acceleration, (slewVelocity * -1.0));
sprintf(pC_->outString_, "%f %i nm", negTravelLimit_, (axisNo_ + 1));
}
status = pC_->writeController();
return status;
}
asynStatus SMC100Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "SMC100Axis::move";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) {
sprintf(pC_->outString_, "%1dPR%f", axisNo_ + 1, (position*stepSize_));
} else {
sprintf(pC_->outString_, "%1dPA%f", axisNo_ + 1, (position*stepSize_));
}
status = pC_->writeController();
return status;
}
asynStatus SMChydraAxis::home(double baseVelocity, double slewVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "SMChydraAxis::home";
status = sendAccelAndVelocity(acceleration, slewVelocity);
if (forwards) {
sprintf(pC_->outString_, "%i nrm", (axisNo_ + 1));
} else {
sprintf(pC_->outString_, "%i ncal", (axisNo_ + 1));
}
status = pC_->writeController();
return status;
}
asynStatus SMChydraAxis::move(double position, int relative, double baseVelocity, double slewVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "SMChydraAxis::move";
status = sendAccelAndVelocity(acceleration, slewVelocity);
if (relative) {
sprintf(pC_->outString_, "%f %i nr", (position * axisRes_), (axisNo_ + 1));
} else {
sprintf(pC_->outString_, "%f %i nm", (position * axisRes_), (axisNo_ + 1));
}
status = pC_->writeController();
return status;
}
asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (forwards) {
sprintf(pC_->outString_, "#%02dH+", axisNo_);
} else {
sprintf(pC_->outString_, "#%02dH-", axisNo_);
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::move";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) {
sprintf(pC_->outString_, "#%02dI%+d", axisNo_, NINT(position));
} else {
sprintf(pC_->outString_, "#%02dG%+d", axisNo_, NINT(position));
}
status = pC_->writeReadController();
return status;
}
// Jog
asynStatus SMC100Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
double high_limit;
double low_limit;
asynStatus comStatus;
static const char *functionName = "SMC100Axis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
comStatus = sendAccelAndVelocity(acceleration, maxVelocity);
if (comStatus) goto skip;
/* SMC100 supports the notion of jog, but only for a remote control keypad */
// SMC100 will not allow moves outside of those set with the SL and SR commands
// first we query these limits and then make the jog a move to the limit
// get the high limit
sprintf(pC_->outString_, "%1dSR?", axisNo_ + 1);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "1SR25.0"
high_limit = (atof(&pC_->inString_[3]));
// get the low limit
sprintf(pC_->outString_, "%1dSL?", axisNo_ + 1);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "1SL-5.0"
low_limit = (atof(&pC_->inString_[3]));
if (maxVelocity > 0.) {
/* This is a positive move in SMC100 coordinates (egus) */
sprintf(pC_->outString_, "%1dPA%f", axisNo_ + 1, high_limit);
} else {
/* This is a negative move in SMC100 coordinates (egus) */
sprintf(pC_->outString_, "%1dPA%f", axisNo_ + 1, low_limit);
}
comStatus = pC_->writeController();
if (comStatus) goto skip;
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
static const char *functionName = "MCB4BAxis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
status = sendAccelAndVelocity(acceleration, maxVelocity);
/* MCB-4B does not have jog command. Move 1 million steps */
if (maxVelocity > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
} else {
/* This is a negative move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
}
status = pC_->writeReadController();
return status;
}
