Restore Pos conversion to mcDEFAULT homing mode

loupeteam / AxisLib

AR Library for controlling ACP10 axes

MIT License

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Restore Pos conversion to mcDEFAULT homing mode #5

Open AndrewMusser opened 1 year ago

AndrewMusser commented 1 year ago

This PR modifies AxisLib's reference FUB to handle restore pos homing modes differently. The general idea is to leverage more of Mapp Motion's 'out-of-the-box' capabilities with Restore Pos homing:

It still requires that the RestorePosition PV be passed in, but it commands a home default for axes that have a non-zero restore pos PV.
This means that the RestorePosition PV must also be linked in the drive's configuration for this to work.
The reason it is still passed in to AxisLib is so that we can check whether or not the data is valid.

Joshpolansky commented 1 year ago

@AndrewMusser Do you remember anything about this?

AndrewMusser commented 12 months ago

@AndrewMusser Do you remember anything about this?

@Joshpolansky Yes, vaguely. I think we did this because Mapp Motion handles the restore pos in an automated way for you when you map a PV in the drive's configuration?

Joshpolansky commented 12 months ago

@AndrewMusser Do you remember anything about this?

@Joshpolansky Yes, vaguely. I think we did this because Mapp Motion handles the restore pos in an automated way for you when you map a PV in the drive's configuration?

Was there a reason we didn't use it?

Joshpolansky commented 9 months ago

Based on testing with MpRobotFlex I'm not sure the drive automatically handles the homing if data is valid. Is that your understanding? I was wondering if it's MpAxisBasic that does the restore pos?