lin-epics-modules/motorBase
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removed traj_accel_latency; it made no improvement

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timmmooney
2013-05-02 20:09:16 +00:00
parent 9740530b14
commit 0600479d4e
1 changed files with 3 additions and 20 deletions
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motorApp/OmsSrc/MAX_trajectoryScan.st
+3 -20
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@@ -33,10 +33,6 @@ program MAX_trajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M6=M6
/* This program must be compiled with the recursive option */
option +r;
%% volatile int MAXv_traj_quantized = 1;
%% volatile int MAXv_traj_vmin = 0;
%% volatile int MAXv_traj_accel_latency = 0;
/* Maximum # of trajectory elements. The MAXV allows something like 2550 for
* a trajectory preloaded into the controller (unlimited if you're willing to
* write elements while the trajectory is running). For now, we limit the number
@@ -1011,6 +1007,8 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
/* Calculate velocities and accelerations suitable for MAX variable velocity contouring commands.
* We're given x(t) in the form x[i], t[i]. We need to calculate v(x) and a(x) that will produce x(t).
*/
volatile int MAXv_traj_quantized = 1;
volatile int MAXv_traj_vmin = 0;
double y2[MAX_ELEMENTS], v_out[MAX_ELEMENTS], a_out[MAX_ELEMENTS], calcMotorTrajectory[MAX_ELEMENTS];
static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTrajectory,
@@ -1023,13 +1021,6 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
#endif
double x0;
int i, dir;
double half_cycle_time;
char stringOut[MAX_MESSAGE_STRING];
/* Get update rate */
sprintf(stringOut, "AX; #UR?;");
writeRead(ssId, pVar, stringOut, stringOut);
half_cycle_time = MAXv_traj_accel_latency*0.5/atol(stringOut);
#if USE_SPLINE
/* prepare for spline interpolation of motor trajectory */
@@ -1082,15 +1073,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
/* Motor acceleration is quantized. Take effect into account by assuming nearest achievable acceleration. */
a_out[i-1] = motorResolution * NINT(a_out[i-1]/motorResolution);
}
if ((MAXv_traj_accel_latency==0) || (i<2)) {
v_out[i] = v_out[i-1] + a_out[i-1]*dt;
} else {
/* On average, the hardware will notice that the motor has reached the end of a segment half a
* cycle time later than it was actually reached, so the previous acceleration will have been
* in force during that time.
*/
v_out[i] = v_out[i-1] + a_out[i-1]*(dt-half_cycle_time) + a_out[i-2]*half_cycle_time;
}
v_out[i] = v_out[i-1] + a_out[i-1]*dt;
if (MAXv_traj_quantized) {
/* Motor speed is quantized. Take effect into account by calculating nearest achievable speed. */
v_out[i] = motorResolution * NINT(v_out[i]/motorResolution);