lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

for trajectory tracking (velocity override) we need a good value for the time the trajectory started. Checking the imput bit is too slow, because it requires a command. Testing the motor position can be done more frequently, because we can read from dual-port memory

Browse Source
This commit is contained in:
timmmooney
2011-02-28 16:46:18 +00:00
parent 76184ef940
commit 161b50c5f7
1 changed files with 16 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/MAX_trajectoryScan.st
+16 -7
View File
@@ -158,7 +158,7 @@ unsigned long startTime;
int position[MAX_AXES][MAX_ELEMENTS];
int velocity[MAX_AXES][MAX_ELEMENTS];
int acceleration[MAX_AXES][MAX_ELEMENTS];
int motorStartRaw[MAX_AXES];
/*** variables for digital I/O ***/
/* detector trigger (e.g., MCS channel advance) */
@@ -532,6 +532,7 @@ ss maxTrajectoryScan {
%%waitEpicsMotors(ssId, pVar);
}
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorStartRaw, &(pVar->dtime));
n = sprintf(stringOut, "AM;"); /* Axis multitasking mode */
for (j=0; j<MAX_AXES; j++) {
if (moveAxis[j]) {
@@ -581,10 +582,18 @@ ss maxTrajectoryScan {
when (execState==EXECUTE_STATE_EXECUTING) {
if (waitingForTrigger) {
%%pVar->waitingForTrigger = (getStarted(ssId, pVar) ? 0 : 1);
startTime = time(0);
%%epicsTimeGetCurrent(&eStartTime);
} else {
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
for (j=0; j<numAxes; j++) {
if (moveAxis[j] && (motorStartRaw[j] != motorCurrentRaw[j])) waitingForTrigger = 0;
}
if (waitingForTrigger) {
%%pVar->waitingForTrigger = (getStarted(ssId, pVar) ? 0 : 1);
startTime = time(0);
%%epicsTimeGetCurrent(&eStartTime);
}
}
if (!waitingForTrigger) {
/* Get the current motor positions, post them */
if (debugLevel < DEBUG_VA) {
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
@@ -999,8 +1008,8 @@ static int getStarted(SS_ID ssId, struct UserVar *pVar) {
bits |= c;
}
mask = 1 << (pVar->inBitNum);
if (pVar->debugLevel >= 2)
printf("getStarted: reply='%s', bits=0x%x, mask=0x%x\n", pVar->stringIn, bits, mask);
if (pVar->debugLevel >= 5)
printf("\ngetStarted: reply='%s', bits=0x%x, mask=0x%x", pVar->stringIn, bits, mask);
return (bits & mask);
}