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Only check soft limits on home after timeout #1

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12 changes: 7 additions & 5 deletions GalilSup/src/GalilAxis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ GalilAxis::GalilAxis(class GalilController *pC, //Pointer to controller instance
int switch_type) //motor enable/disable switch type
: asynMotorAxis(pC, (toupper(axisname[0]) - AASCII)),
pC_(pC), last_encoder_position_(0), smoothed_encoder_position_(0), encoder_smooth_factor_(0.0), motor_dly_(0.0),
first_poll_(true),encDirOk_(true), pollRequest_(10, sizeof(int))
first_poll_(true),encDirOk_(true), last_done_(1), pollRequest_(10, sizeof(int))
{
string limit_code; //Code generated for limits interrupt on this axis
string digital_code; //Code generated for digital interrupt related to this axis
Expand Down Expand Up @@ -2180,7 +2180,7 @@ void GalilAxis::checkHoming(void)

// ISIS: need to confirm limits high/low limit behaviour
bool home_timeout = homing_ && (stoppedTime_ >= homing_timeout) && !cancelHomeSent_;
bool home_soft_limits_hit = (((readback > highLimit_ && softlimits) || (readback < lowLimit_ && softlimits)) && homing_ && !cancelHomeSent_ && done_);
bool home_soft_limits_hit = (((readback > highLimit_ && softlimits) || (readback < lowLimit_ && softlimits)) && home_timeout && done_);
if (home_timeout || home_soft_limits_hit)
{
sprintf(pC_->cmd_, "MG homed%c\n", axisName_);
Expand Down Expand Up @@ -2976,7 +2976,10 @@ asynStatus GalilAxis::poller(bool& moving)

//Extract axis motion data from controller datarecord, and load into GalilAxis instance
status |= getStatus();
if (status) goto skip;
if (status) {
done_ = last_done_;
goto skip;
}

//Set poll variables in GalilAxis based on data record info
setStatus(&moving);
Expand Down Expand Up @@ -3046,7 +3049,6 @@ asynStatus GalilAxis::poller(bool& moving)
smoothed_encoder_position_ = (1.0 - encoder_smooth_factor_) * encoder_position_ +
encoder_smooth_factor_ * smoothed_encoder_position_;
}
skip:
//Save encoder position, and done for next poll cycle
last_encoder_position_ = encoder_position_;
last_done_ = done_;
Expand All @@ -3056,7 +3058,7 @@ asynStatus GalilAxis::poller(bool& moving)
//By this driver during homing
revlast_ = rev_;
fwdlast_ = fwd_;

skip:
//Set status
if (encoder_smooth_factor_ != 0.0)
{
Expand Down
2 changes: 2 additions & 0 deletions GalilSup/src/GalilConnector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,8 @@ void GalilConnector::run(void)
//Check GalilController for response
//Test synchronous communication
//Query controller for synchronous connection handle
strcpy(pC_->cmd_, "EO 0"); // first we also turn off echo mode as it really breaks things
pC_->sync_writeReadController();
strcpy(pC_->cmd_, "WH");
sync_status = pC_->sync_writeReadController(true);
//Store the handle controller used for sync
Expand Down
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