lin-epics-modules/motorBase
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motorStart array now defined in header, and assigned to PVs.

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Set motorMVA and motorMAA to max velocity and acceleration.
pvPut(motorStart[])
This commit is contained in:
timmmooney
2014-04-04 21:35:39 +00:00
parent 3a9489d4a2
commit 83a4e4a39e
1 changed files with 6 additions and 1 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.st
+6 -1
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@@ -131,7 +131,7 @@ int abortState;
%% int writeIntAndCheck(SS_ID ssId, struct UserVar *pVar, int n, int ival);
double position[MAX_AXES][MAX_ELEMENTS];
double velocity[MAX_AXES][MAX_ELEMENTS];
double motorStart[MAX_AXES];
/*double motorStart[MAX_AXES]; now in header and assigned to PVs */
double motorCurr[MAX_AXES];
double motorPosOffset[MAX_AXES];
@@ -353,6 +353,8 @@ ss EnsembleTrajectoryScan {
if (fabs(vmax) < .001) vmax = epicsMotorVELO[j];
if (debugLevel>1) printf("vmax=%f\n", vmax);
amax = vmax/epicsMotorACCL[j];
motorMVA[j] = 0.;
motorMAA[j] = 0.;
for (k=0; k<npoints && !limitViolation; k++) {
posActual = motorTrajectory[j][k];
if (moveMode != MOVE_MODE_ABSOLUTE) posActual += epicsMotorPos[j];
@@ -377,6 +379,8 @@ ss EnsembleTrajectoryScan {
epicsSnprintf(buildMessage, MSGSIZE, "!! deltaT(=%.3f) < .03 at pt. %d", dtime, k+1);
}
}
motorMVA[j] = MAX(motorMVA[j], fabs(velocity[j][k]));
/*motorMAA[j] = MAX(motorMAA[j], fabs(acceleration[j][k]));*/
}
}
}
@@ -422,6 +426,7 @@ ss EnsembleTrajectoryScan {
initialPos[j] = epicsMotorPos[j];
motorStart[j] = motorTrajectory[j][0] - (velocity[j][0] * epicsMotorACCL[j]) / 2;
if (moveMode != MOVE_MODE_ABSOLUTE) motorStart[j] += epicsMotorPos[j];
pvPut(motorStart[j]);
}
/* Move to start position */
for (j=0; j<numAxes; j++) {