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Fixed bug in trajectory scanning for motors with .DIR=1 (NEG), was scanning wrong direction

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This commit is contained in:
MarkRivers
2009-01-16 21:16:23 +00:00
parent bf248ae580
commit 68337d7adf
1 changed files with 19 additions and 10 deletions
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motorApp/NewportSrc/XPS_trajectoryScan.st
+19 -10
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@@ -923,6 +923,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
double preTimeMax, postTimeMax;
double preVelocity[MAX_AXES], postVelocity[MAX_AXES];
double time;
int dir[MAX_AXES];
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: buildAndVerify:"
@@ -958,6 +959,9 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
* is "correct" but subject to roundoff errors when sending ASCII commands
* to XPS. Reduce acceleration 10% to account for this. */
maxAcceleration[j] = 0.9 * maxAcceleration[j];
/* Note: the preDistance and postDistance numbers computed here are
* in user coordinates, not XPS coordinates, because they are used for
* EPICS moves at the start and end of the scan */
if (pVar->moveMode == MOVE_MODE_RELATIVE) {
distance = pVar->motorTrajectory[j][0];
} else {
@@ -987,12 +991,17 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
/* Create the trajectory file */
trajFile = fopen (TRAJECTORY_FILE, "w");
/* Compute the sign relationship of user coordinates to XPS coordinates for
* each axis */
for (j=0; j<pVar->numAxes; j++) {
if (pVar->epicsMotorDir[j] == 0) dir[j]=1; else dir[j]=-1;
}
/* Create the initial acceleration element */
fprintf(trajFile,"%f", preTimeMax);
for (j=0; j<pVar->numAxes; j++)
fprintf(trajFile,", %f, %f", pVar->preDistance[j], preVelocity[j]);
fprintf(trajFile,", %f, %f", pVar->preDistance[j]*dir[j], preVelocity[j]*dir[j]);
fprintf(trajFile,"\n");
/* The number of points in the file is nelements for MOVE_MODE_RELATIVE and
* nelements-1 for other modes */
if (pVar->moveMode == MOVE_MODE_RELATIVE)
@@ -1007,23 +1016,23 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
T1 = T0;
for (j=0; j<pVar->numAxes; j++) {
if (pVar->moveMode == MOVE_MODE_RELATIVE) {
D0 = pVar->motorTrajectory[j][i];
D0 = pVar->motorTrajectory[j][i] * dir[j];
if (i < npoints-1)
D1 = pVar->motorTrajectory[j][i+1];
D1 = pVar->motorTrajectory[j][i+1] * dir[j];
else
D1 = D0;
} else {
D0 = pVar->motorTrajectory[j][i+1] -
pVar->motorTrajectory[j][i];
D0 = pVar->motorTrajectory[j][i+1] *dir[j] -
pVar->motorTrajectory[j][i] * dir[j];
if (i < npoints-1)
D1 = pVar->motorTrajectory[j][i+2] -
pVar->motorTrajectory[j][i+1];
D1 = pVar->motorTrajectory[j][i+2] * dir[j] -
pVar->motorTrajectory[j][i+1] * dir[j];
else
D1 = D0;
}
/* Average either side of the point? */
trajVel = (D0 + D1) / (T0 + T1);
trajVel = ((D0 + D1) / (T0 + T1));
if (!(pVar->moveAxis[j])) {
D0 = 0.0; /* Axis turned off*/
trajVel = 0.0;
@@ -1038,7 +1047,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
/* Create the final acceleration element. Final velocity must be 0. */
fprintf(trajFile,"%f", postTimeMax);
for (j=0; j<pVar->numAxes; j++)
fprintf(trajFile,", %f, %f", pVar->postDistance[j], 0.);
fprintf(trajFile,", %f, %f", pVar->postDistance[j]*dir[j], 0.);
fprintf(trajFile,"\n");
fclose (trajFile);