Essentially in order to "send" offsets to the beckhoff, we need to implement the frozen offset behaviour in the motor record in TwincatMotor. This is asynMotorRecord derived so we need to implement setPosition and setEncoderPosition(although actually, we never "use" an encoder on a beckhoff, so may not need to implement this?)
currently these are not overridden from https://github.com/ISISComputingGroup/EPICS-motor/blob/e6e33b85ac536b161c5da16267bd28fed8d3c00d/motorApp/MotorSrc/asynMotorAxis.cpp#L130 so we need to override and implement them. this will probably be something like
(where X is the PLC var that we need to write to)
setPosition(double position) {
// convert steps to actual position using same logic as enc. ratio
// dbpf to X
}Acceptance criteria
Essentially in order to "send" offsets to the beckhoff, we need to implement the frozen offset behaviour in the motor record in TwincatMotor. This is asynMotorRecord derived so we need to implement setPosition and setEncoderPosition(although actually, we never "use" an encoder on a beckhoff, so may not need to implement this?)
currently these are not overridden from https://github.com/ISISComputingGroup/EPICS-motor/blob/e6e33b85ac536b161c5da16267bd28fed8d3c00d/motorApp/MotorSrc/asynMotorAxis.cpp#L130 so we need to override and implement them. this will probably be something like
(where X is the PLC var that we need to write to)
Acceptance criteria