Check everything sent to controller; use SCOPE commands to compare trajectory as executed with desired trajectory; fix velocity-limit bug; retry trajectory if it fails to start; make PSO generation conditional on outBitNum in range (0,15) inclusive; controller claims motors are done when they aren't, so allow for retries; was checking only bit lsbit of moving indicator, now check for nonzero; mind max velocity as configured on controller, as well as in motor record; move parameters to communicatewith AeroBasci to header file; change acknowledge from AeroBasic from "IGLOBAL(cmdVar)=0" to "IGLOBAL(cmdVar)=-(IGLOBAL(cmdVar))"; do trajectory entirely on controller, in absolute time and position; add decel points to trajectory.

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timmmooney

2013-11-12 23:07:56 +00:00

parent e450e27669

commit 2c3036c197

1 changed files with 756 additions and 271 deletions

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motorApp/AerotechSrc/EnsembleTrajectoryScan.st

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