Commit 71ff0bef authored by Andrea Orlat's avatar Andrea Orlat
Browse files

added initial minor servo setup after configuration

parent e0b3466f

Noto/Servers/NotoMinorServo/src/NotoMinorServoBossCore.cpp

+10 −1
Original line number Diff line number Diff line
@@ -1421,6 +1421,9 @@ void CNotoMinorServoBossCore::msSetup(const char *conf) throw (ComponentErrors:: 


void CNotoMinorServoBossCore::setDefaultAxesValues(const IRA::CString & conf)

{

	char buff[SENDBUFFERSIZE];

	char str[80];

	int n, res;	

	int axis;

	float xValues[POLY_COEFF];

	float yValues[POLY_COEFF];
@@ -1474,13 +1477,19 @@ void CNotoMinorServoBossCore::setDefaultAxesValues(const IRA::CString & conf) 
	if (conf.Compare("QQC")==0) {

     m_config = 6; mode = 1; axis = 5;

	}

	sprintf (buff, "0,%d,%d", mode, m_config);

	for (n = 0; n < ((mode) ? 5 : 2); n++) {

		sprintf (str, ",%6.2f", scupos[45][n]); // initial setup at 45°

      strcat (buff, str);

	}

	res = sendBuffer(buff,strlen(buff));

}



void CNotoMinorServoBossCore::PolyEvaluation (int Axis, float *Coeff, int Dim)

/* computes scu axis position table */

{

  int i, j;

  float Xi, l=0.0;

  float Xi;

  for (i = 0; i <= 90; i++) {   /* make 1 point every deg from 0 to 90 */

    scupos[i][Axis] = 0;

    for (j = 0; j < Dim; j++) {